Methods and apparatus for maintaining airfoil-shaped body using cart that follows trailing edge

ABSTRACT

A motorized rolling maintenance cart that utilizes the angled trailing edge geometry of an airfoil-shaped body (such as a wind turbine blade or rotor blade) to traverse the length of the airfoil-shaped body. The trailing edge-following maintenance cart may be used to carry personnel doing maintenance activities on the blades, such as local repairs or re-painting. In accordance with one aspect, the maintenance cart carries non-destructive inspection sensor units or other maintenance hardware over the surface of the airfoil-shaped body (e.g., in a spanwise direction). In accordance with another aspect, the trailing edge-following maintenance cart is configured to also provide fall protection to one or more independently movable crawler vehicles by means of cables. Alternative embodiments may include only one of the two aspects.

BACKGROUND

This disclosure generally relates to automated systems for carryingmaintenance tools across surfaces, such maintenance tools including (butnot limited to) sensors used in non-destructive inspection (NDI). Inparticular, this disclosure relates to apparatus for performingautomated maintenance operations on airfoil-shaped bodies, such as windturbine blades and rotor blades.

As used herein, the term “maintenance” includes, but is not limited to,operations such as non-destructive inspection, drilling, scarfing,grinding (e.g., to remove bonded or bolted components), fastening,applique application, ply mapping, cleaning, marking and painting. Asused herein, the term “airfoil-shaped body” means an elongated bodyhaving two surfaces connecting a leading edge having a curved (e.g.,rounded) profile (hereinafter “curved leading edge”) to a sharp (e.g.,angled) trailing edge (hereinafter “angled trailing edge”).

Automated maintenance apparatus designed to traverse wind turbine bladesor rotor blades typically needs to avoid attaching to the trailing edgeof the blade due to anomalies or irregularities at that location, whichmake traversing past them problematic. Attachment of a rolling cart tothe leading edge of an airfoil-shaped body is done, but this requiressophisticated sensing to keep on track and slippage/falling of the cartis possible if one or more of the scanning systems the cart supportsfall off the airfoil-shaped body.

SUMMARY

The subject matter disclosed herein is directed to an apparatus forperforming automated maintenance functions on airfoil-shaped bodies,such as a wind turbine blade or a rotor blade, by mounting the apparatuson the trailing edge. The apparatus disclosed herein takes advantage ofthe sharp angle of the trailing edge to provide the guide/track for amotorized rolling maintenance cart (hereinafter “maintenance cart”).Spring-loaded stabilizing wheels hold the cart in place with a stableorientation while allowing the maintenance cart to travel along thetrailing edge over discontinuities and edge features. The multiplestabilizing wheels distribute the load across the blade and are arrangedto resist the trailing edge-following maintenance cart falling off ofthe trailing edge when subjected to imbalance. Powered travel isprovided using one or more sets of motorized drive wheels.

The maintenance cart utilizes the angled trailing edge geometry of anairfoil-shaped body (such as a wind turbine blade or rotor blade) totraverse the length of the airfoil-shaped body. The trailingedge-following maintenance cart may be used to carry personnel doingmaintenance activities on the blades, such as local repairs orre-painting. In accordance with one aspect, the maintenance cartprovides fall protection to one or more tool-equipped crawler vehiclesor scanners which are connected to the maintenance cart by cables. Inaccordance with another aspect, the trailing edge-following maintenancecart is configured and constructed to resist falling off of the trailingedge in the event that one or more tool-equipped crawler vehicles orscanners falls off of the airfoil-shaped body. Alternative embodimentsmay include one or more of the foregoing aspects.

The trailing edge-following maintenance cart disclosed in some detailbelow has multiple potential uses, including being a base for crawlingor hanging non-destructive inspection (NDI) scanners, holding NDI arraysfor inspecting the trailing edge of the blade, and carrying or loweringmaintenance-related tools or personnel to locations where a maintenanceoperation is to be performed. No complex or costly orientation/positionor reaction system is needed to keep the cart on the trailing edge ofthe blade. The system is simple to attach and use. The trailingedge-following maintenance cart resists falling off of the trailingedge, even if one or more tool-equipped crawler vehicles or scannersfall off the blade.

Although various embodiments of an apparatus and methods for performingmaintenance operations on an airfoil-shaped body using a trailingedge-following maintenance cart are described in some detail laterherein, one or more of those embodiments may be characterized by one ormore of the following aspects.

One aspect of the subject matter disclosed in detail below is a methodfor performing a maintenance operation on an airfoil-shaped body, themethod comprising: orienting an airfoil-shaped body so that a trailingedge of the airfoil-shaped body is generally horizontal; placing amaintenance cart having wheels over the trailing edge of theairfoil-shaped body with at least some wheels in contact with first andsecond side surfaces of the airfoil-shaped body which converge towardthe trailing edge; rolling the maintenance cart along the trailing edgeof the airfoil-shaped body from a first position to a second position;and performing a maintenance operation on a surface of theairfoil-shaped body after or during the rolling. The maintenance cart isplaced so that at least some wheels are in contact with and roll on thetrailing edge. In accordance with some embodiments, the wheels incontact with the trailing edge are spring-loaded, and the method furthercomprises adjusting a vertical position of each wheel in contact withthe trailing edge as a vertical position of the contacted portion of thetrailing edge changes due to physical anomalies and/or irregularities.The maintenance operation is one of the following different types:non-destructive inspection, drilling, grinding, deburring, reaming,fastening, applique application, scarfing, ply mapping, marking,cleaning and painting.

In accordance with some embodiments, the maintenance operation isperformed by a maintenance tool that is supported by a crawler vehicle,the crawler vehicle being connected to the maintenance cart by a cable.In this case, the method may further comprise: (a) moving the crawlervehicle to a first position in contact with the first side surface; (b)activating a maintenance tool onboard the crawler vehicle to perform amaintenance operation on the first side surface at the first position;(c) upon completion of steps (a) and (b), moving the crawler vehiclefrom the first position to a second position on a leading edge of theairfoil-shaped body; (d) moving the crawler vehicle from the secondposition to a third position in contact with the second side surface;and (e) activating the maintenance tool to perform a maintenanceoperation on the second side surface at the third position.

Another aspect of the subject matter disclosed in detail below is anapparatus comprising: a backbone structure; a suspension systemcomprising first through fourth suspension arms fixedly coupled to andextending downward from the backbone structure; and first through fourthstabilizing wheels respectively supported by and rotatable relative tothe first through fourth suspension arms; and a motor operativelycoupled to drive rotation of the first stabilizing wheel. The firstthrough fourth stabilizing wheels are arranged relative to the backbonestructure in a configuration such that wherein the first through fourthstabilizing wheels are arranged relative to the backbone structure in aconfiguration such that the first and third stabilizing wheels wouldcontact and be rollable on one side of an airfoil-shaped body and thesecond and fourth stabilizing wheels would contact and be rollable onanother side of the airfoil-shaped body while the suspension systemsuspends the backbone structure over a generally horizontal trailingedge of the airfoil-shaped body. In accordance with some embodiments,the suspension system further comprises: first and second rocker armsrespectively rotatably coupled to the first and second suspension arms,the first and second stabilizing wheels being respectively rotatablycoupled to the first and second rocker arms; and first and second rockerhelical torsion springs which are arranged to respectively assistrotations of the first and second rocker arms that would cause the firstand second stabilizing wheels to respectively move toward each other.

In accordance with one embodiment of the apparatus described in theimmediately preceding paragraph, the apparatus further comprises: firstand second vertical wheels, and the suspension system further comprises:third and fourth rocker arms rotatably coupled to the backbonestructure, the first and second vertical wheels being rotatably coupledto the third and fourth rocker arms respectively; and third and fourthrocker helical torsion springs which are arranged to respectively assistrotations of the third and fourth rocker arms that would cause the firstand second vertical wheels to move away from the backbone structure.

In accordance with some embodiments, the suspension system furthercomprises: a standoff support frame rotatably coupled to the firstrocker arm; a sensor coupled to the standoff support frame; a standoffwheel rotatably coupled to the standoff support frame, wherein thesensor is separated from a plane that is tangent to both the firststabilizing wheel and the standoff wheel by a standoff distance.

In accordance with some embodiments, the apparatus further comprises:first and second NDI sensor unit supports rotatably coupled to thebackbone structure; first and second NDI sensor units respectivelyfixedly coupled to the first and second NDI sensor unit supports; andthird and fourth rocker helical torsion springs which are arranged torespectively assist rotations of the first and second NDI sensor unitsupports that would move the first and second NDI sensor units away fromeach other. In accordance with other embodiments, the first throughfourth stabilizing wheels are wheel probes. In accordance with theembodiments disclosed herein, the apparatus further comprises one ormore tool-carrying crawler vehicles connected to the backbone structureby respective cables.

A further aspect of the subject matter disclosed in detail below is amethod for performing a maintenance operation on an airfoil-shaped bodyhaving first and second side surfaces that meet at an angled trailingedge and are connected by a curved leading surface, comprising:orienting an airfoil-shaped body so that a trailing edge of theairfoil-shaped body is generally horizontal; connecting a crawlervehicle to a maintenance cart using a cable; placing the maintenancecart over the trailing edge of the airfoil-shaped body with at leastsome wheels of the maintenance cart in contact with the first and secondside surfaces of the airfoil-shaped body; vacuum adhering the crawlervehicle to the first side surface of the airfoil-shaped body usingsuction; and activating a maintenance tool onboard the crawler vehicleto perform a maintenance operation on the first side surface.Optionally, the method further comprises: moving the crawler vehiclealong a continuous path that starts on the first side surface, crossesunderneath the curved leading edge and ends on the second side surfaceof the airfoil-shaped body; and activating the maintenance tool onboardthe crawler vehicle to perform a maintenance operation on the secondside surface.

In accordance with one embodiment of the method described in theimmediately preceding paragraph, the method further comprises: movingthe maintenance cart along the trailing edge while the crawler vehiclesmoves independently; and activating a maintenance tool that is dependingfrom and supported by the maintenance cart to perform a maintenanceoperation on the second side surface while the maintenance cart ismoving. In one proposed implementation, the amount of cable that iswound on a spool is changed as the crawler vehicle crosses underneaththe leading edge.

Other aspects of an apparatus and methods for performing automatedmaintenance operations on an airfoil-shaped body using a trailingedge-following maintenance cart are disclosed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The features, functions and advantages discussed in the precedingsection may be achieved independently in various embodiments or may becombined in yet other embodiments. Various embodiments will behereinafter described with reference to drawings for the purpose ofillustrating the above-described and other aspects. None of the diagramsbriefly described in this section are drawn to scale.

FIG. 1 is a diagram representing a front view of a typical wind turbine.

FIG. 2 is a diagram representing a view of an apparatus in accordancewith a first embodiment placed on a generally horizontal trailing edgeof a wind turbine blade for performing a maintenance operation.

FIG. 3 is a diagram representing an end view of an apparatus inaccordance with a second embodiment placed on a generally horizontaltrailing edge of a wind turbine blade for performing a maintenanceoperation.

FIG. 4 is a diagram representing a magnified view of a portion of FIG. 3that includes the generally horizontal trailing edge of the wind turbineblade and a maintenance cart placed thereon.

FIGS. 5A through 5E are diagrams representing respective front views ofthe apparatus depicted in FIG. 4 at five instants in time as somevertical wheels traverse an irregularity in the trailing edge.

FIG. 6 is a diagram representing a front view of an apparatus inaccordance with a third embodiment placed on a generally horizontaltrailing edge of a wind turbine blade for performing a maintenanceoperation.

FIG. 7 is a diagram representing an end view of the wind turbine bladewith trailing edge-following apparatus depicted in FIG. 6.

FIG. 8 is a diagram representing a magnified front view of a portion ofFIG. 6 that includes the generally horizontal trailing edge of the windturbine blade and an apparatus in accordance with the third embodimentplaced thereon.

FIG. 9 is a diagram representing an end view of the trailing edgeportion of the wind turbine blade and the trailing edge-followingapparatus depicted in FIG. 8.

FIG. 10 is a diagram representing a front view of a portion of atrailing edge-following apparatus in accordance with a fourthembodiment.

FIG. 11 is a diagram representing a cross-sectional view of a portion ofthe apparatus depicted in FIG. 10, the apparatus being sectioned in theplane indicated by the line 11-11 in FIG. 10.

FIG. 12 is a diagram representing a front view of a typical wheel probe.

FIG. 13 is a flowchart identifying steps of a method for performing amaintenance operation on an airfoil-shaped body in accordance with oneembodiment.

FIG. 14 is a flowchart identifying steps of a method for performing amaintenance operation on an airfoil-shaped body having first and secondside surfaces that meet at an angled trailing edge and are connected bya curved leading surface.

FIG. 15 is a diagram representing a view of a portion of apparatuscomprising a spool-equipped maintenance cart and a crawler vehicleconnected to the cart by a cable in accordance with one embodiment.

FIG. 16 is a block diagram identifying some components of acomputer-controlled system for performing a maintenance operation on awind turbine blade in accordance with some embodiments.

FIG. 17A is a diagram representing a top view of a cable-suspended,vacuum-adhered, tool-equipped crawler vehicle in accordance with oneembodiment.

FIGS. 17B and 17C are side and end views respectively of thecable-suspended, vacuum-adhered, tool-equipped crawler vehicle depictedin FIG. 17A.

FIG. 18 is a diagram representing a top view of a cable-suspended,vacuum-adhered, spool-equipped crawler vehicle in accordance with oneembodiment.

FIG. 19 is a diagram representing a three-dimensional view of parts of aholonomic-motion crawler vehicle having two suction zones in accordancewith one embodiment. The electrical connections for supplying signalsfor controlling operation of the depicted components and othercomponents are not shown.

FIG. 20 is a diagram showing a bottom view of a Mecanum-wheeled crawlervehicle having dual suction zones.

FIG. 21 is a diagram representing a view of a holonomic-motion crawlervehicle that has front and back sets of four vacuum adherence devices inaccordance with one embodiment.

FIG. 22 is a diagram representing a bottom view of the holonomic-motioncrawler vehicle depicted in FIG. 21.

FIG. 23A is a diagram representing a cross-sectional view of a vacuumadherence device in accordance with one implementation.

FIG. 23B is a diagram representing a cross-sectional view of the vacuumadherence device depicted in FIG. 23A adhered to a non-planar bladesurface. The air gap between the vacuum adherence device and thenon-planar surface has been exaggerated for the purpose of illustration.

FIG. 24 is a diagram representing a top view of a Mecanum-wheeled frameof a crawler vehicle having a fixed NDI scan head attached to one endthereof.

FIG. 25 is a diagram representing a top view of a Mecanum-wheeled frameof a crawler vehicle having a reciprocating NDI scan head mounted to oneend thereof.

FIG. 26 is a block diagram identifying some components of aholonomic-motion crawler vehicle having both a cable spool and acarriage for a maintenance tool in accordance with another embodiment.

FIG. 27 is a block diagram identifying some components of a system forperforming an ultrasonic inspection on a surface of a body in accordancewith one proposed computer architecture.

Reference will hereinafter be made to the drawings in which similarelements in different drawings bear the same reference numerals.

DETAILED DESCRIPTION

As used herein, the term “airfoil-shaped body” refers to an elongatedbody having a curved leading edge and an angled trailing edge connectedby a pair of side surfaces, such as a wind turbine blade or a rotorblade. The cross-sectional profile of the airfoil-shaped body may changein size and shape from the root to the tip. A blade maintenance tool isa device that performs a maintenance operation, such as non-destructiveinspection of an airfoil-shaped body, or cleaning of an external surfaceof the airfoil-shaped body, while travelling along the airfoil-shapedbody.

For the purpose of illustration, apparatuses and methods for performingautomated maintenance operations on a wind turbine blade using atrailing edge-following maintenance cart will now be described in somedetail. However, not all features of an actual implementation aredescribed in this specification. A person skilled in the art willappreciate that in the development of any such embodiment, numerousimplementation-specific decisions must be made to achieve thedeveloper's specific goals, such as compliance with system-related andbusiness-related constraints, which will vary from one implementation toanother. Moreover, it will be appreciated that such a development effortmight be complex and time-consuming, but would nevertheless be a routineundertaking for those of ordinary skill in the art having the benefit ofthis disclosure.

FIG. 1 is a diagram representing a front view of a typical wind turbine100. A typical wind turbine 100 has three wind turbine blades 108 a-108c extending radially outward from a central hub 106, to which the rootsof the wind turbine blades 108 a-108 c are attached. The hub 106 isrotatably coupled to a nacelle 104 that is supported at a height aboveground by a tower 102. The wind turbine blades 108 a-108 c areconfigured to generate aerodynamic forces that cause the wind turbine torotate in response to wind impinging on the blade surfaces. The nacelle104 houses an electric generator (not shown in FIG. 1) which isoperatively coupled to the hub 106. The electric generator is configuredto generate electrical power as the hub 106 rotates.

FIG. 2 is a diagram representing a view of a portion of a typical windturbine 100 having an apparatus that has been placed on a wind turbineblade 108 for performing a maintenance operation in accordance with oneembodiment. The wind turbine blade 108 includes two side surfaces 114and 116 (only side surface 114 is visible in FIG. 2) which in profileconverge to form a leading edge 110 and an acute angle having thetrailing edge 112 at the vertex. When the wind turbine 100 operates,foreign matter or debris may become attached to the surfaces 114 and 116of the wind turbine blades 108. Also cracks or scratches may occur inthe wind turbine blades 108 during usage. Foreign matter on the surfaceof the wind turbine blades 108 may degrade the efficiency of the windturbine 100; cracks may propagate if not attended to. Periodicmaintenance may be performed for removing foreign matter from thesurfaces of the wind turbine blades 108 or for detecting anomalies(e.g., cracks) in the wind turbine blades 108.

In accordance with the particular embodiment depicted in FIG. 2, themaintenance cart 18 a includes a backbone structure 24 (e.g., in theform of a truss bridge) and a pair of vertical wheels 26 a and 26 frotatably coupled to the backbone structure 24. The vertical wheels 26 aand 26 f are configured to follow the trailing edge 112. The axes ofrotation of the vertical wheels 26 may be perpendicular to the trailingedge 112 to facilitate cart travel along the trailing edge 112. Thevertical wheels 26 a and 26 f of the maintenance cart 18 a may be madeof a material having a high frictional force, such as rubber, so thatvertical wheels 26 a and 26 f are disinclined to slide off of thesurface of the trailing edge 112.

Still referring to FIG. 2, the maintenance cart 18 a further includes asuspension system 23 that includes first through fourth suspension arms23 a-23 d fixedly coupled to and extending downward from the backbonestructure 24; first through fourth stabilizing wheels 25 a-25 drespectively supported by and rotatable relative to the first throughfourth suspension arms 23 a-23 d; and one or more cart drive motors (notshown in FIG. 2, but see cart drive motor 62 in FIG. 16) for drivingrotation of respective stabilizing wheels. The first through fourthstabilizing wheels 25 a-25 d are arranged relative to the backbonestructure 24 in a configuration such that: (1) the first stabilizingwheel 25 a and third stabilizing wheel 25 c contact and are rollable onside surface 114 of the wind turbine blade 108; and (2) the secondstabilizing wheel 25 b and fourth stabilizing wheel 25 d contact and arerollable on side surface 116 of the wind turbine blade 108, upon whichthe first through fourth suspension arms 23 a-23 d hold the backbonestructure 24 in a position overlying the generally horizontal trailingedge 112 of the wind turbine blade 108, as depicted in FIG. 2.

The apparatus depicted in FIG. 2 further includes a multiplicity ofcables 22 depending from the maintenance cart 18 a and a multiplicity ofcrawler vehicles 20 (e.g., holonomic-motion crawler vehicles)respectively attached to the multiplicity of cables 22. The crawlervehicles 20 may move independently of the maintenance cart 18 a becauseeach crawler vehicle 20 is vacuum adhered to a surface of the windturbine blade 108. Each crawler vehicle 20 comprises a frame 2, a set ofwheels 4 rotatably coupled to the frame 2, and a maintenance tool 28mounted to the frame 2. Other components of the crawler vehicle 20 willbe described later with reference to those drawings in which thedescribed part is represented.

The control system that controls the apparatus depicted in FIG. 2 may beprogrammed to move and activate the multiplicity of maintenance tools 28on the swarm of crawler vehicles 20 in a coordinated manner to scanrespective surfaces concurrently on one or both sides of the windturbine blade 108. As seen in FIG. 2, the crawler vehicles 20 may bepositioned at different elevations and may pass under the leading edge110 during transit from one side of the wind turbine blade 108 to theother side. In accordance with the embodiment depicted in FIG. 2, eachcrawler vehicle 20 is connected to the maintenance cart 18 a by a singlecable 22 which acts as a tether that prevents the crawler vehicle 20from falling to the ground in the event that the suction devices ceaseto operate or produce insufficient suction force. The trailingedge-following maintenance cart 18 a resists falling off of the trailingedge 112, even if one or more tool-equipped crawler vehicles 20 orscanners fall off the blade, thereby producing a state of cartimbalance.

At the start of a maintenance operation, the crawler vehicles 20 may belowered to respective positions having different elevations, as depictedin FIG. 2. As will be described in more detail later with reference toFIGS. 19-22, each crawler vehicle 20 further comprises suction means forenabling vacuum adherence to the side surfaces 114 and 116 of the windturbine blades 108. Maintenance operations may be performed while thecrawler vehicles 20 are adhered to the side surfaces 114 and 116. Duringsuch maintenance operations, the maintenance cart 18 a may be eitherstationary or moving. To maintain slack in the cables during relativemovement of the maintenance cart 18 a and the crawler vehicles 20, thecables 22 are wound or unwound from respective cable spools 52 (see,e.g., cable spool 52 in FIG. 15 or FIG. 18) as needed.

In accordance with some embodiments, the crawler vehicles 20 areconfigured to be capable of holonomic motion. A holonomic-motion systemis one that is not subject to motion constraints. As used in thisdisclosure, a vehicle is considered to be holonomic if the controllabledegrees of freedom are equal to the total degrees of freedom. This typeof system can translate in any direction while simultaneously rotating.This is different than most types of ground vehicles, such as car-likevehicles, tracked vehicles, or wheeled differential-steer (skid-steer)vehicles, which cannot translate in any direction while rotating at thesame time.

The maintenance tool 28 carried by the crawler vehicle 20 may beselected from a group of interchangeable maintenance tools, includingNDI sensors of different types (e.g., an ultrasonic transducer array, aninfrared thermography unit, a video camera, an optical three-dimensionalcoordinate measuring machine or a laser line scanner), a cleaning unit,and so forth. In accordance with one implementation, the apparatuscomprises a multiplicity of crawler vehicles 20 capable of supportingany one of a plurality of maintenance tools 28 for performing a set ofmaintenance functions on a wind turbine blade. As described in somedetail below, the maintenance cart may also carry one or more toolsselected from the same group of interchangeable maintenance tools. As awhole, the apparatus disclosed herein reduces maintenance time, laborhours and human errors and increases safety when robotic maintenancefunctions are performed on wind turbine blades.

As will be described in some detail below during disclosure of variousembodiments, the crawler vehicles—although connected to the cart by acable—are independently movable while vacuum adhered to the surface inwhich the wheels are in contact. The vacuum adherence functionality ofthe crawler vehicle is provided by one or more vacuum adherence devicesthat enable each crawler vehicle to adhere to but still translate and/orrotate over the surface to which the crawler vehicle is adhered. Eachvacuum adherence device is designed to “float” when the vacuum adherencedevice is partially evacuated. The vacuum adherence device includessuction components which are compliant (spring loaded) with low-frictionpads that slide across the surface. The system is rotationally compliantas well as compliant along the Z-axis. The resulting total suction forceis strong enough to adhere the crawler vehicle to the structure, but notso strong as to inhibit lateral displacement or rotation. Thus, the term“adherence” as used herein means a floating adherence that allows thecrawler vehicles to move over a surface while remaining adhered. Incontrast, the term “attachment” as used herein includes non-floatingadherence (a.k.a. adhesion) and does not include floating adherence.

The automated maintenance tool-carrying apparatus proposed herein takesadvantage of the sharp angle of the trailing edge to provide theguide/track for the maintenance cart. In the embodiments describedbelow, the stabilizing wheels 25 a-25 d are spring-loaded to maintain astable cart orientation while allowing powered travel of the maintenancecart along the trailing edge over discontinuities and edge features. Themultiple stabilizing wheels distribute the load across the blade.Powered travel is provided using one or more motorized drive wheels. Themaintenance cart can perform multiple tasks, including being a base forcrawling or hanging NDI scanners, holding NDI arrays for trailing edgeinspection, and carrying or lowering into position maintenance-relatedtools or personnel to maintenance locations on the blade. No complex orcostly orientation/position or reaction system is needed to keep themaintenance cart on the edge of the blade. The trailing edge-followingmaintenance cart resists falling off the trailing edge, even if itsentire scanning package/scanners, maintenance tool carrier, etc., fallsoff the blade.

In accordance with some embodiments, a set of compliant vertical wheelsseated on the trailing edge of the blade can be used for driving themaintenance cart or maintaining cart height on the trailing edge, andthese vertical wheels are designed to easily pass over anomalies orother irregularities at the trailing edge. To maintain control of thecart vertical position, and to prevent bottoming out of the springs onthe follower wheels, the following additional technical design featuresare proposed herein: (a) use soft vertical wheels on the trailing edge;(b) make at least one pair of opposing stabilizing wheels (driver orfollower) fixed, with the other pair of opposing stabilizing wheelsbeing spring-loaded, which would keep the maintenance cart from sinkingtoo low on the chord; and (c) limit the amount of travel that the rockerarms could experience, either by the increasing resistance of thehelical torsion springs as they rotate, or through hard stops on eachrocker arm to limit travel.

FIGS. 3, 4 and 5A are diagrams representing respective views of anapparatus in accordance with a second embodiment placed on a generallyhorizontal trailing edge 112 of a wind turbine blade 108 for performinga maintenance operation. Although not shown in FIGS. 3, 4 and 5A toavoid clutter in the drawings, the apparatus depicted in FIGS. 3, 4 and5A may optionally include a swarm of crawler vehicles 20 connected bycables 22 to the backbone structure as depicted in previously describedFIG. 2. More specifically, FIG. 4 is a diagram representing a magnifiedview of a portion of FIG. 3 that includes the generally horizontaltrailing edge 112 of the wind turbine blade 108 and a maintenance cart18 b placed thereon. FIG. 5A is a diagram representing a front view ofthe apparatus depicted in FIG. 4. The maintenance cart 18 b depicted inFIGS. 3, 4 and 5A has a suspension system 58 that is different than thesuspension system 23 of maintenance cart 18 a depicted in FIG. 2. Thecable management systems of the respective apparatuses depicted in FIGS.2 and 5A may be the same (described in some detail later with referenceto FIG. 15).

Referring to FIGS. 4 and 5A, the maintenance cart 18 b includes abackbone structure 24 and two sets of three vertical wheels 26 a-26 cand 26 d-26 f rotatably coupled to respective rocker arms 86 a-86 f bymeans of respective axles 98 (one of which is shown in FIG. 4). Therocker arms 86 a-86 f in turn are rotatably coupled to the backbonestructure by means of respective axles 78 (one of which is shown in FIG.4). The axes of rotation of the vertical wheels 26 a-26 f may beperpendicular to the trailing edge 112 to facilitate cart travel alongthe trailing edge 112. The vertical wheels 26 a-26 f of the maintenancecart 18 b may be made of a material having a high frictional force sothat vertical wheels 26 a-26 f are disinclined to slide off of thesurface of the trailing edge 112. Each of the vertical wheels 26 a-26 fhas an annular groove 15 (see FIG. 4) formed in the outer periphery ofthe wheel, which groove 15 is configured to receive a portion of thetrailing edge 112 of the wind turbine blade 108.

Although the particular embodiment depicted in FIG. 5A has two sets ofthree vertical wheels 26 a-26 c and 26 d-26 f, alternative embodimentsmay employ more than two sets of vertical wheels. Moreover, each set ofvertical wheels may include more than three vertical wheels.

The maintenance cart 18 b depicted in FIG. 5A further includes firstthrough fourth suspension arms 23 a-23 d fixedly coupled to andextending downward from the backbone structure 24; first through fourthpairs of stabilizing wheels respectively supported by and rotatablerelative to the first through fourth suspension arms 23 a-23 d; and oneor more cart drive motors (not shown in FIG. 5A, but see cart drivemotor 62 in FIG. 16) for driving rotation of respective stabilizingwheels.

As seen in FIGS. 4 and 5A, the first pair of stabilizing wheels 25 a and25 e are in contact with and rollable on side surface 114 of the windturbine blade 108 and the second pair of stabilizing wheels 25 b and 25f are in contact with and rollable on side surface 116 of the windturbine blade 108. As further shown in FIG. 5A, the third pair ofstabilizing wheels 25 c and 25 g are in contact with and rollable onside surface 114 of the wind turbine blade 108. The fourth pair ofstabilizing wheels—which are in contact with and rollable on sidesurface 116 of the wind turbine blade 108—are not visible in either FIG.4 or FIG. 5A. The first through fourth suspension arms 23 a-23 d—whichrespectively couple the four pairs of stabilizing wheels to the backbonestructure 24—hold the backbone structure 24 in a suspended position overand above the generally horizontal trailing edge 112 of the wind turbineblade 108, as best seen in FIG. 4.

Referring to FIG. 4, the suspension system 58 further includes rockerarms 70 a and 70 b, which are respectively rotatably coupled to thefirst suspension arm 23 a, and rocker arms 74 a and 74 b, which arerespectively rotatably coupled to the second suspension arm 23 b. Thefirst pair of stabilizing wheels 25 a and 25 e are respectivelyrotatably coupled to the rocker arms 70 a and 70 b; and the second pairof stabilizing wheels 25 b and 25 f are respectively rotatably coupledto the rocker arms 74 a and 74 b.

Still referring to FIG. 4, the suspension system 58 further includeshelical torsion springs 60 a and 60 b which are arranged to respectivelyassist rotations of the rocker arms 70 a and 70 b that would cause thestabilizing wheels 25 a and 25 e to move toward stabilizing wheels 25 band 25 f. Conversely, the suspension system 58 further includes helicaltorsion springs 60 c and 60 d which are arranged to respectively assistrotations of the rocker arms 74 a and 74 b that would cause thestabilizing wheels 25 b and 25 f to move toward stabilizing wheels 25 aand 25 e.

Referring now to FIG. 5A, the suspension system 58 further includeshelical torsion springs 60 e and 60 f which are arranged to respectivelyassist rotations of the rocker arms 72 a and 72 b that would cause thestabilizing wheels 25 c and 25 g to move toward the fourth pair ofstabilizing wheels (not visible in FIG. 5A). Conversely, the suspensionsystem 58 further includes a fourth pair of helical torsion springs (notshown in FIGS. 4 and 5A) which are arranged to respectively assistrotations of a fourth pair of rocker arms (not shown) that would causethe fourth pair of stabilizing wheels (not shown) to move toward thestabilizing wheels 25 c and 25 f.

As shown in FIG. 5A, the suspension system 58 further includes rockerarms 86 a-86 f rotatably coupled to the backbone structure 24. Thevertical wheels 26 a-26 f are respectively rotatably coupled to rockerarms 86 a-86 f. The suspension system 58 further includes rocker helicaltorsion springs 61 a-61 f which are arranged to respectively assistrotations of rocker arms 86 a-86 f that would cause the vertical wheels26 a-26 f to respectively move away from the backbone structure 24. Thespring-loaded vertical wheels enable the maintenance cart 18 b totraverse anomalies and irregularities formed in the trailing edge 112 ofthe wind turbine blade, such as irregularity 120 depicted in FIGS.5A-5E.

Although the embodiment depicted in FIG. 5A has rocker helical torsionsprings 61 a-61 f, which are passive, alternative embodiments may employan active electrical or pneumatic solenoid or an encoder motor couldperform the same function. Each may be controlled by a proximity sensorsignaling a controller to articulate the active device.

FIGS. 5A through 5E are diagrams representing respective front views ofthe apparatus depicted in FIG. 4 at five instants in time as verticalwheels 26 a-26 c traverse an irregularity 120 in the trailing edge 112.As should be apparent from the preceding description of rocker arms 86a-86 c and rocker helical torsion springs 61 a-61 c, the verticalpositions of the vertical wheels 26 a-26 c may be adjusted to accountfor local changes in elevation of the trailing edge 112 due to thepresence of an irregularity 120 (in this example, a depression) byrotating the associated rocker arms 86 a-86 c.

At the instant of time depicted in FIG. 5A, the vertical wheel 26 a hasnot yet reached the irregularity 120. At the instant of time depicted inFIG. 5B, the maintenance cart 18 b has moved leftward (as viewed in FIG.5B) until the vertical wheel 26 a has rolled into a depression of theirregularity 120. As the vertical wheel 26 a rolled into the depression,the rocker arm 86 a was urged to rotate counter-clockwise (as viewed inFIG. 5B) by the vertical rocker helical torsion spring 61 a, therebyadjusting the vertical position of the vertical wheel 26 a downward sothat vertical wheel 26 a remained in contact with the irregularity 120.

At the instant of time depicted in FIG. 5C, the maintenance cart 18 bhas moved further leftward (as viewed in FIG. 5C) until the verticalwheel 26 a has rolled out of the depression of the irregularity 120. Asthe vertical wheel 26 a rolled out of the depression, the contact forceexerted by the trailing edge 112 on the vertical wheel 26 a overcame theresistance of the vertical rocker helical torsion spring 61 a, which inturn caused the rocker arm 86 a to rotate clockwise (as viewed in FIG.5C). In addition, at the instant of time depicted in FIG. 5C, now thevertical wheel 26 b has rolled into the depression. As the verticalwheel 26 b rolled into the depression, the rocker arm 86 b was urged torotate counter-clockwise (as viewed in FIG. 5C) by the vertical rockerhelical torsion spring 61 b, thereby adjusting the vertical position ofthe vertical wheel 26 b downward so that vertical wheel 26 b remained incontact with the irregularity 120.

At the instant of time depicted in FIG. 5D, the maintenance cart 18 bhas moved further leftward (as viewed in FIG. 5D) until the verticalwheel 26 b has also rolled out of the depression of the irregularity120. As the vertical wheel 26 b rolled out of the depression, thecontact force exerted by the trailing edge 112 on the vertical wheel 26b overcame the resistance of the vertical rocker helical torsion spring61 b, which in turn caused the rocker arm 86 b to rotate clockwise (asviewed in FIG. 5D). In addition, at the instant of time depicted in FIG.5D, now the vertical wheel 26 c has rolled into the depression. As thevertical wheel 26 c rolled into the depression, the rocker arm 86 c wasurged to rotate counter-clockwise (as viewed in FIG. 5D) by the verticalrocker helical torsion spring 61 c, thereby adjusting the verticalposition of the vertical wheel 26 c downward so that vertical wheel 26 cremained in contact with the irregularity 120.

At the instant of time depicted in FIG. 5E, the maintenance cart 18 bhas moved further leftward (as viewed in FIG. 5E) until the verticalwheel 26 c has also rolled out of the depression of the irregularity120. As the vertical wheel 26 c rolled out of the depression, thecontact force exerted by the trailing edge 112 on the vertical wheel 26c overcame the resistance of the vertical rocker helical torsion spring61 c, which in turn caused the rocker arm 86 c to rotate clockwise (asviewed in FIG. 5E). The vertical wheels 26 d-26 f may traverse theirregularity 120 in a similar fashion if the maintenance cart 18 bcontinues to move leftward (as viewed in FIGS. 5A-5E).

In accordance with various embodiments disclosed below, the apparatusincludes a trailing edge-following maintenance cart having fore and aftmaintenance tools for performing maintenance operations on respectiveareas along the trailing edge of a blade and a multiplicity ofmaintenance tool-carrying crawler vehicles connected to the cart bymeans of cables for performing maintenance operations on the remainderof the blade, including the leading edge. After the wind turbine blade108 is rotated until the trailing edge 112 is oriented generallyhorizontal and positioned above the leading edge 110 of the same blade,the cart is placed on and able to travel along the trailing edge of theblade. At the same time, the crawler vehicles—which are vacuum adheredto one or both sides of the blade—may be operated independently.

FIGS. 6 and 7 are diagrams representing respective views of an apparatusin accordance with a third embodiment placed on a generally horizontaltrailing edge 112 of a wind turbine blade 108 for performing amaintenance operation. Although not shown in FIGS. 6 and 7 to avoidclutter in the drawings, the maintenance cart 18 c may include two ormore vertical wheels of the type depicted in previously described FIG.5A. Those vertical wheels are coupled to the backbone structure 24 bymeans of spring-loaded rocker arms of the type previously described withreference to FIG. 5A. In an alternative embodiment, the maintenance cart18 c may have no vertical wheels, in which case the pressure from thestabilizing wheels alone keeps the maintenance cart 18 c positionedrelative to the trailing edge using the angled component of the normalpressure emanating from the stabilizing wheels (as shown, e.g., in FIG.2). The cable management systems of the respective apparatuses depictedin FIGS. 5A and 6 may be the same (described in some detail later withreference to FIG. 15). In accordance with the particular embodimentdepicted in FIG. 6, the maintenance cart 18 c includes a backbonestructure 24 and at least two vertical wheels (not shown in FIG. 6)rotatably coupled to the backbone structure 24. The vertical wheels areconfigured to follow the trailing edge 112, as previously described (seeFIG. 4). The maintenance cart 18 c further includes: (a) first throughfourth suspension subassemblies 140 a-140 d; (b) first through fourthrows of stabilizing wheels 25 a-25 d respectively supported by androtatable relative to the first through fourth suspension subassemblies140 a-140 d; and (c) one or more cart drive motors (not shown in FIG. 6,but see cart drive motor 62 in FIG. 16) for driving rotation ofrespective stabilizing wheels. The first and second suspensionsubassemblies 140 a and 140 b and first and second rows of stabilizingwheels 25 a and 25 b are shown in FIG. 7. The third suspensionsubassembly 140 c and third row of stabilizing wheels 25 c are shown inFIG. 6. The fourth suspension subassembly 140 d and fourth row ofstabilizing wheels 25 d are not visible in FIGS. 6 and 7.

The first through fourth rows of stabilizing wheels 25 a-25 d arearranged relative to the backbone structure 24 in a configuration suchthat the first and third rows of stabilizing wheels 25 a and 25 ccontact and are rollable on side surface 114 of the wind turbine blade108 and the second and fourth rows of stabilizing wheels 25 b and 25 dcontact and are rollable on side surface 116 of the wind turbine blade108. In this state, the first through fourth suspension subassemblies140 a-140 d hold the backbone structure over and above the generallyhorizontal trailing edge 112 of the wind turbine blade 108, as depictedin FIG. 7.

The apparatus depicted in FIGS. 6 and 7 further includes a multiplicityof cables 22 depending from the maintenance cart 18 c and a multiplicityof crawler vehicles 20 (e.g., holonomic-motion crawler vehicles)respectively attached to the multiplicity of cables 22. The crawlervehicles 20 may move independently of the maintenance cart 18 c becauseeach crawler vehicle 20 is vacuum adhered to a surface of the windturbine blade 108 and the cables 22 are wound or unwound in a mannerthat maintains slack in the cables. Each crawler vehicle 20 may be ofone of the types described above.

As seen in FIG. 6, the crawler vehicles 20 may be positioned atdifferent elevations and may pass under the leading edge 110 duringtransit from one side of the wind turbine blade 108 to the other side.In addition, in the event that a crawler vehicle 20 falls off of thewind turbine blade 108 (as depicted in FIG. 7), an unwound portion of acable 22, that connects the falling crawler vehicle 20 to the backbonestructure 24, will become taut and stop the fall of the crawler vehicle20. FIG. 6 shows a scenario in which the a crawler vehicle 20 is hangingfrom a taut cable 22 after falling off of the wind turbine blade 108.The downward-pointing straight arrow A in FIG. 7 represents the loadproduced by a falling crawler vehicle 20; the curved arrow B in FIG. 7represents the resulting force exerted on the maintenance cart 18 c. Themaintenance cart 18 c is configured to resist falling off of thetrailing edge 112 when the crawler vehicle 20 falls off the wind turbineblade 108. The stabilizing wheels 25 a-25 d keep the maintenance cart 18c upright. As a result, falling crawler vehicles will not destabilizethe maintenance cart 18 c.

Further details concerning the structure of the apparatus depicted inFIGS. 6 and 7 will now be provided with reference to FIGS. 8 and 9. FIG.8 is a diagram representing a magnified front view of a portion of FIG.6 that includes the generally horizontal trailing edge 112 of the windturbine blade 108 and the trailing edge-following maintenance cart 18 cplaced thereon. FIG. 9 is a diagram representing an end view of thetrailing edge portion of the wind turbine blade and the trailingedge-following apparatus depicted in FIG. 8.

As shown in FIGS. 8 and 9, the first suspension subassembly 140 aincludes a first suspension arm 23 a which is fixedly coupled to thebackbone structure 24 by means of a first appendage structure 21 a and afirst row of rocker arms 70 which are rotatably coupled to the firstsuspension arm 23 a. The first row of stabilizing wheels 25 a arerespectively rotatably coupled to the first row of rocker arms 70. Thesuspension subassembly 140 a further includes a first multiplicity ofhelical torsion springs 60 a which are arranged to respectively assistrotations of the rocker arms 70 that would cause the stabilizing wheels25 a to move toward stabilizing wheels 25 b.

As shown in FIG. 9, the second suspension subassembly 140 b includes asecond suspension arm 23 b which is fixedly coupled to the backbonestructure 24 by means of a second appendage structure 21 b and a secondrow of rocker arms 74 which are rotatably coupled to the secondsuspension arm 23 b. The second row of stabilizing wheels 25 b arerespectively rotatably coupled to the second row of rocker arms 74. Thesuspension subassembly 140 b further includes a second multiplicity ofhelical torsion springs 60 b which are arranged to respectively assistrotations of the rocker arms 74 that would cause the stabilizing wheels25 b to move toward the stabilizing wheels 25 a.

As shown in FIG. 8, the third suspension subassembly 140 c includes athird suspension arm 23 c which is fixedly coupled to the backbonestructure 24 by means of a third appendage structure 21 c and a thirdrow of rocker arms 72 which are rotatably coupled to the thirdsuspension arm 23 c. The third row of stabilizing wheels 25 c arerespectively rotatably coupled to the third row of rocker arms 72. Thesuspension subassembly 140 c further includes a third multiplicity ofhelical torsion springs 60 c which are arranged to respectively assistrotations of the rocker arms 72 that would cause the stabilizing wheels25 c to move toward the stabilizing wheels 25 d (not shown in FIGS. 8and 9).

Although not visible in FIGS. 8 and 9, the fourth suspension subassembly140 d may have the same configuration as suspension subassemblies 140a-140 c. As seen in FIGS. 8 and 9, each row of stabilizing wheels 25a-25 d may have at least one stabilizing wheel which is operativelycoupled to a respective cart drive motor 62. However, in theory as fewas one cart drive motor 62 (of sufficient power) operatively coupled toone stabilizing wheel (having a sufficiently high coefficient offriction with the side surface) may be sufficient under some operatingconditions to move the maintenance cart 18 c along the trailing edge112.

In addition to the maintenance tools 28 mounted on the crawler vehicles,various maintenance tools (e.g., NDI sensor units) may be mounted to anyone of the maintenance carts 18 a-18 c described above. In the exampledepicted in FIG. 8, the maintenance cart 18 c carries various NDIinstruments, including a pair of video cameras 122 a and 122 b mountedto the backbone structure 24 and a pair of infrared thermography units124 a and 124 b mounted to the backbone structure 24. Each of theinfrared thermography units 124 a and 124 b may include a linear heatsource for inspection of the trailing edge 112. Another pair of infraredthermography units (not visible in FIG. 8) may be disposed on the otherside of the wind turbine blade 108. The video cameras 122 a and 122 bcheck for damage and may also be used to determine when the maintenancecart is near the tip of the wind turbine blade 108.

In the example depicted in FIG. 8, the apparatus further includes a pairof NDI sensor units 126 a and 126 b which are rotatably coupled to thebackbone structure 24. The NDI sensor units 126 a and 126 b may beultrasonic pulse echo transducer arrays, eddy current arrays, resonancearrays, bond testers or laser probes for acquiring data representing thestructural conditions found as the apparatus moves in a spanwisedirection over the portion of the side surface 114 which is adjacent tothe trailing edge 112. Another pair of NDI sensor units (not visible inFIG. 8) may be disposed on the other side of the wind turbine blade 108.The elements in each array may be arranged in a linear or staggeredconfiguration on a semi-rigid substrate, which semi-rigid substrate isspring loaded to maintain proximity to, if not contact with, the surfacebeing inspected.

In accordance with the embodiment depicted in FIG. 8, the apparatusfurther includes first and second NDI sensor unit supports 142 a and 142b rotatably coupled to the backbone structure 24 by means of respectivepairs of hinges 141; first and second NDI sensor units 126 a and 126 brespectively fixedly coupled to the first and second NDI sensor unitsupports 142 a and 142 b; and respective helical torsion springs (notshown in FIG. 8) which are arranged to respectively assist rotations ofthe first and second NDI sensor unit supports 142 a and 142 b that wouldmove the first and second NDI sensor units 126 a and 126 b toward theside surface 114 of the wind turbine blade. Third and fourth NDI sensorunits may be similarly rotatably coupled to the backbone structure 24 onthe other side of the apparatus (behind the wind turbine blade 108 asseen in FIG. 8)

In accordance with one embodiment, each NDI sensor unit 142 a and 142 bmay be a line of non-contact ultrasonic sensors in through-transmissionmode from one side to the other. Respective helical torsion springs atthe hinges 141 would always rotate the NDI sensor units 142 a and 142 btoward the wind turbine blade 108. A respective wheel or ball-and-socketbearing on the end of the NDI sensor unit furthest away from thebackbone structure 24 could keep a small stand-off distance during cartmotion. Airborne ultrasonic testing is non-contact, with the NDI sensorunit being held by the NDI sensor unit supports 142 a and 142 b at astandoff distance from the side surface 114. Each NDI sensor unit couldinclude a respective column of infrared cameras. High-frequencyultrasonic testing would use a liquid acoustic couplant (e.g., water)that would flow under the array elements spring loaded to touch thesurface. A wheel on the end of this array arm is optional, as this wouldbe self-adjusting to the surface along its length.

In accordance with an alternative embodiment, each NDI sensor unit 142 aand 142 b may be a low-frequency ultrasound (bond tester) array thatmakes physical contact with the side surface 114, with each array havinga spring load to ensure uniform physical contact with the surface beinginspected. The low-frequency ultrasonic transducer elements of a bondtester typically each have plastic feet that slide on a surface.

In accordance with other embodiments, respective NDI sensors may becoupled to the rocker arms 70, 72, 74 and 76 that support thestabilizing wheels 25 a-25 d. For surface areas adjacent to the trailingedge 112 that contain structural anomalies or features that protrudefrom the surface, each spring-loaded rocker arm holding a stabilizingwheel may also hold a sensor element or short sensor array in proximityto the stabilizing wheel (e.g., alongside or in front of the stabilizingwheel), to be raised if the stabilizing wheel rolls over a protuberance,damage, or non-flat trailing edge feature.

In accordance with one proposed implementation, the sensors arerespectively disposed alongside the stabilizing wheels, so that thesensors are lifted with the stabilizing wheels no matter which directionthe maintenance cart is moving. A spring load relative to thestabilizing wheel would allow adjustment of the sensor relative to thewheel. While the area directly under each stabilizing wheel is notinspected by the sensors, that would not be an issue if (a) there arealso in-wheel sensors, or (b) the wheel is narrow enough so the width ofthe area missed is less than the anomaly size—so that the anomaly isdetected by the array of sensors. This approach significantly simplifiesthe pick-up of the sensors over protuberances: the sensors go up anddown with the stabilizing wheels.

In accordance with an alternative proposed implementation (especiallyuseful for larger surface changes), the sensor may be mounted to amotor-driven linear slide on the arm, enabling the sensor to be liftedabove obstacles based upon separate sensing of the surface. A laser linescanner or laser distance meter in front of the sensor could indicatethe change in surface height, with a feedback loop through a controllerto raise and lower the sensor relative to the adjacent wheel. (Springloading and angular compliance of the sensor head end effector couldstill be used to ensure uniform surface contact for this approach.)

FIG. 10 is a diagram representing a front view of a portion of atrailing edge-following apparatus in accordance with a fourth embodimentin which each spring-loaded rocker arm 70 supports a respective pair ofNDI sensors 1. FIG. 11 is a diagram representing a cross-sectional viewof a portion of the apparatus depicted in FIG. 10, the apparatus beingsectioned in the plane indicated by the line 11-11 in FIG. 10.

As best seen in FIG. 11, each rocker arm 70 is urged toward the sidesurface 114 by a respective rocker helical torsion spring 60. Eachstabilizing wheel 25 is mounted to a respective axle 145 that is fixedlycoupled to the rocker arm 70. In addition, rocker arm supports arespective pivotable standoff support frame 65 that basically consistsof three rigid members 65 a-65 c connected at an intersection. Rigidmember 65 a has a distal end rotatably coupled to the end of the axle145. A standoff wheel 64 is rotatably coupled to a distal end of therigid member 65 b. The distal end of the rigid member 65 c isdisplaceable relative to a standoff spring support 146 that is affixedto the rocker arm 70 and supports a standoff spring 144. The standoffspring 144 may be a compression spring that urges the pivotable standoffsupport frame 65 to rotate counter-clockwise (as viewed in FIG. 11).This spring loading holds the standoff wheel 64 in contact with the sidesurface 114, but allows the pivotable standoff support frame 65 torotate clockwise when the standoff wheel 64 rolls over a protuberance.

In addition, each NDI sensor 1 is mounted to a respective sensor supportfinger 148 that is affixed to the rigid member 65 b and extendsdownward. Each sensor support finger 148 is configured to hold the NDIsensor 1 at a standoff distance (indicated by opposed arrows in FIG. 11)from the side surface 114. As the standoff wheel 64 rolls over aprotuberance, the pivotable standoff support frame 65 rotates clockwise,which lifts the NDI sensor 1 over the protuberance.

In accordance with a further alternative embodiment, the stabilizingwheels may be of a type that incorporates an ultrasonic transducerarray, so that no separate sensor is needed; the wheels are the sensors.

FIG. 12 is a diagram representing a front view of a typical wheel probe172 that may be used with any of the apparatuses described above. Inparticular, the wheel probe 172 can be used in lieu of a stabilizingwheel, such as the first stabilizing wheel 25 a. The wheel probe 172provides for rapid inspection of large areas by creating atwo-dimensional scan in the rolling direction of the maintenance cart18. The wheel probe 172 includes a stator 174 and a rotor 176. Thestator 174 is mounted to an axle 176, the opposed ends of which arecoupled to respective brackets 184 a and 184 b of the wheel probesupport structure 182. The stator 174 (made, e.g., of stainless steel)forms the housing for the transducer or transducer array (not shown),and also the fixed mounting for the connectors and cables. The rotor 178(wheel) rotates about the stator 174 on precision bearings (not shown)as the maintenance cart 18 rolls along the trailing edge 112 of a windturbine blade 108.

The replaceable tire 180, which mounts on and encircles the rotor 178,is made of an acoustic coupling material that acts as a delay line andprotects the transducer and allows for good acoustical coupling with thesurface of the part under test so that ultrasound waves are passed intothe part under test in a controlled manner. One example of such acousticmaterial is a silicone rubber. In the alternative, other types ofacoustic coupling material (e.g., natural rubber) may be used.Processing circuitry n be housed within the stator 174. A rotationencoder (not shown) is mounted on the axle 176 to keep track of therotational position of stator 174.

FIG. 13 is a flowchart identifying steps of a method 200 for performinga maintenance operation on an airfoil-shaped body (e.g., wind turbineblade 108) using any one of the apparatuses described above. The method200 includes the following steps. The wind turbine blade 108 is orientedso that the trailing edge 112 is generally horizontal (step 202). Then amaintenance cart 18 is placed over the trailing edge 112 with at leastsome vertical wheels 26 in contact with the side surfaces 114, 116 ofthe wind turbine blade 108 (step 204). Thereafter the maintenance cart18 is rolled along the trailing edge 112 from a first position to asecond position (step 206). A maintenance operation is performed on asurface of the wind turbine blade 108 after or during the rolling (step208).

The maintenance cart 18 is placed so that at least some vertical wheels26 are in contact with and roll on the trailing edge 112. In accordancewith some embodiments, the vertical wheels 26 in contact with thetrailing edge 112 are spring-loaded, and the method 200 further includesadjusting a vertical position of each vertical wheel 26 in contact withthe trailing edge 112 as a vertical position of the contacted portion ofthe trailing edge 112 changes due to physical anomalies and/orirregularities 120. The maintenance operation is one of the followingdifferent types: non-destructive inspection, drilling, grinding,deburring, reaming, fastening, applique application, scarfing, plymapping, marking, cleaning and painting.

FIG. 14 is a flowchart identifying steps of a method 220 for performinga maintenance operation on an airfoil-shaped body (e.g., wind turbineblade 108) having first and second side surfaces (e.g., wind turbineblade side surfaces 114 and 116) that meet at an angled trailing edge(e.g., wind turbine blade trailing edge 112) and are connected by acurved leading surface (e.g., wind turbine blade trailing edge 112)using any one of the apparatuses described above. The method 220includes the following steps. First, the wind turbine blade 108 isoriented so that the trailing edge 112 is generally horizontal (step222). Also a crawler vehicle 20 is connected to a maintenance cart 18using a cable 22 (step 224). Then a maintenance cart 18 is placed overthe trailing edge 112 with at least some vertical wheels 26 in contactwith the side surfaces 114, 116 of the wind turbine blade 108 (step226). The crawler vehicle 20 in turn is vacuum adhered to the first sidesurface 114 using suction (step 228). A maintenance tool 28 onboard thecrawler vehicle 20 is activated to perform a maintenance operation onthe side surface 114 (step 230). The method 220 depicted in FIG. 14further includes moving the crawler vehicle 20 along a continuous paththat starts on the side surface 114, crosses underneath the curvedleading edge 110 and ends on the side surface 116 of the wind turbineblade 108 (step 232). The maintenance tool 28 onboard the crawlervehicle 20 is then activated to perform a maintenance operation on theside surface 116 (step 234).

As seen in FIGS. 2 and 6, the crawler vehicles 20 may be positioned atdifferent elevations. Each crawler vehicle 20 is connected to themaintenance cart 18 by a respective cable 22 which acts as a tether thatprevents the crawler vehicle 20 from falling to the ground in the eventthat the suction devices of the crawler vehicle 20 cease to operate orproduce insufficient suction force. The multiplicity of maintenancetools 28 on the swarm of crawler vehicles 20 may be operated to scanrespective areas on a surface concurrently in accordance with apreprogrammed mapping of scan paths.

FIG. 15 is a diagram representing a view of a portion of apparatuscomprising a spool-equipped maintenance cart 18 and a crawler vehicle 20connected to a cable spool 52 carried by the maintenance cart 18 by acable 22 in accordance with one embodiment. The uppermost portion ofcable 22 is wound around cable spool 52, which is rotatably coupled to aspool support 68, which in turn is fixedly coupled to the backbonestructure 24 of the maintenance cart 18. The distal end of the cable 22is respectively attached to the frame 2 at an attachment point(indicated by a solid dot in FIG. 15). The cable spool 52 is rotatedunder computer control to change the amount of cable 22 that is wound onthe cable spool 52 as the crawler vehicle 20 moves, e.g., as the crawlervehicle 20 crosses underneath the leading edge 110 of the wind turbineblade, as depicted in FIGS. 2 and 6.

For the sake of simplicity, FIG. 15 shows only a single cable spool 52that may be carried by any of the maintenance carts 18 a-18 d describedabove. In accordance with one proposed implementation, the number ofcable spools 52 carried by the maintenance cart 18 will equal the numberof crawler vehicles 20 connected to the maintenance cart 18 if eachcrawler vehicle 20 is connected by a respective single cable 22. Inaccordance with an alternative proposed implementation, each crawlervehicle 20 may be connected by a respective pair of cables, in whichcase the number of cable spools 52 carried by the maintenance cart 18would be two times the number of connected crawler vehicles 20.

FIG. 16 is a block diagram identifying some components of acomputer-controlled apparatus for performing a maintenance operation ona wind turbine blade 108 using any of the maintenance carts 18 a-18 d inaccordance with any one of the embodiments disclosed herein. In thisexample, the components of the maintenance cart 18 are controlled by anonboard computer 190, which may be configured with programming stored ina non-transitory tangible computer-readable storage medium (not shown).In particular, the computer 190 may be programmed to executeradiofrequency commands received from a ground-based control computer90. Those radiofrequency commands are transmitted by a transceiver 186which is communicatively coupled to the ground-based control computer90, received by a transceiver 80 onboard the maintenance cart 18,converted into the proper digital format and then forwarded to theonboard computer 190.

The control computer 90 may comprise a general-purpose computer systemconfigured with programming for controlling movement of the maintenancecart 18 along the trailing edge 112. The control computer 90 may also beconfigured to control activation of the NDI sensor units 126 a and 126 b(depicted in FIG. 8) in coordination with the controlled movements ofthe maintenance cart 18. In addition, the control computer 90 isconfigured with programming for processing data received from themaintenance cart 18 via transceivers 80 and 186 during an inspectionoperation. In particular, the control computer 90 may comprise a displayprocessor configured with software for controlling a display monitor 188to display images representing the acquired NDO sensor data.

The computer 190 onboard the maintenance cart 18 communicates with motorcontrollers 85 that control operation of respective spool motors 54.Each spool motor 54 in turn may be operated to drive rotation of arespective cable spool 52 during winding or unwinding of a respectivecable 22. The computer 190 also communicates with a motor controller 85that controls operation of a cart drive motor 62. The cart drive motor62 in turn may be operated to drive rotation of a vertical wheel 26.Rotation of the vertical wheel 26 drives displacement of the maintenancecart 18 along the trailing edge 112 of the wind turbine blade 108. Morespecifically, the cart drive motor 62 may be coupled to the verticalwheel 26 in a manner that allows the maintenance cart 18 to beselectively driven to displace along the trailing edge 112 either awayfrom or toward the hub 106 of the wind turbine 100. In accordance withone proposed implementation, each spool motor 54 and the cart drivemotor 62 are stepper motors.

In the embodiment depicted in FIG. 16, the control computer 90communicates wirelessly with the computer 190 via a wireless system suchas a radio frequency (RF) system. Inspection information can then betransmitted wirelessly from the maintenance cart 18 to the controlcomputer 90 in real-time to enable the remote operator to visuallyobserve the inspection of the wind turbine blade 108 in real-time.

FIG. 17A is a diagram representing a top view of a cable-suspendedcrawler vehicle 20 b having a turret-mounted cable hook 3 in accordancewith one embodiment. FIGS. 17B and 17C are side and end viewsrespectively of the cable-suspended crawler vehicle 20 b depicted inFIG. 17A. The crawler vehicle 20 b depicted in FIGS. 17A and 17C issuspended from a cable 22. Preferably the shaft of the cable hook 3 isattached to the frame 2 at a point which is vertically aligned with acenter-of-mass of the crawler vehicle 20 b. The crawler vehicle 20 b hasfour wheels 4 with respective axes of rotation that lie in a plane. Thisplane will be referred to herein as the “crawler vehicle plane”. Thecrawler vehicle 20 b depicted in FIGS. 17A-17C includes a maintenancetool 28 that is translatable along an axis that may be perpendicular tothe crawler vehicle plane. This capability enables the maintenance tool28 to be lifted over obstacles in the path of the crawler vehicle 20 b.In accordance with one embodiment, the means for translating themaintenance tool 28 normal to the confronting external surface of thestructure undergoing maintenance may take the form of a motorized linearslide 31. In the alternative, there are many different types ofactuators that may be used with a linear motion bearing. For example,the maintenance tool 28 may be affixed to a carriage that is driven toslide by a linear actuator (e.g., a motorized lead screw, a motorizedrack-and-pinion arrangement, a hydraulic actuator or a pneumaticactuator). In response to detection of an obstacle in the path of thecrawler vehicle 20 b, a controller (not shown in FIGS. 17A-17C) onboardor off-board the crawler vehicle 20 b activates the linear actuator tocause the maintenance tool 28 to translate to a retracted positionwhereat contact of the tool with the obstacle may be avoided.

As best seen in FIG. 17A, the end of the cable 22 has a loop by means ofwhich the crawler vehicle 20 b may be hooked onto the end of the cable22. The cable hook 3 is fixedly coupled to a turret 46 which isrotatable on a turret base 47 to facilitate alignment of the crawlervehicle 20 b with a surface. The turret base 47 is fixedly coupled tothe frame 2. In the proposed implementation depicted in FIGS. 17A-17C,the turret base 47 is attached to one side of the frame 2 and the turret46 is rotatable about an axis of rotation which is parallel to the axesof rotation of the wheels 4. In an alternative proposed implementation,the cable 22 may be attached to one end of the frame 2. Morespecifically, the turret base 47 depicted in FIG. 17A may instead beattached to one end of the frame 2, in which case the turret 46 isrotatable about an axis of rotation which is perpendicular to the axesof rotation of the wheels 4.

FIG. 18 is a diagram representing a top view of a cable-suspended,vacuum-adhered, spool-equipped crawler vehicle 20 a in accordance withanother embodiment. The crawler vehicle 20 a depicted in FIG. 18includes a maintenance tool 28 that may be lifted in the mannerpreviously described with reference to the crawler vehicle 20 b depictedin FIGS. 17A-17C.

The crawler vehicle 20 a further includes a cable spool 52 which isrotatably coupled to a spool support 68. The spool support 68 has anopening at the top where the cable 22 passes through a cable holder 56that is inserted in the opening. During uptake or pay-out (i.e., windingor unwinding) of the cable 22, the cable spool 52 is driven to rotate bya spool motor 54 that is mounted to the spool support 68. The axis ofrotation of the cable spool 52 is collinear with a spool axle (not shownin FIG. 16, but see spool axle 50 in FIG. 23) of the cable spool 52.

The spool support 68 in turn is fixedly coupled to a turret 46 which isrotatable on a turret base 47 to facilitate alignment of a crawlervehicle 20 with a surface. The turret base 47 is fixedly coupled to theframe 2 of the crawler vehicle 20 a. The turret 46 is rotatable about anaxis of rotation which is perpendicular to the spool axle 50 of thecable spool 52 and parallel to the crawler vehicle plane. Thus the spoolsupport 68 is rotatable about an axis of rotation of the turret 46.

Each of the crawler vehicles 20 a and 20 b further includes amultiplicity of motors (not shown in FIGS. 17A-17C and 18, but see FIG.26) that receive electrical power via power/signal cords (not shown inthe drawings) that extend from a ground-based control station to thecrawler vehicles 20 a and 20 b. The power/signal cords also providecontrol signals from a controller (e.g., a computer system) at aground-based control station which controls the operation of the motorson the crawler vehicles 20 a and 20 b. In cases where the maintenancetool 28 on crawler vehicle 20 b (and optionally on crawler vehicle 20 a)is an NDI sensor unit, the power/signal cord also provides a pathway forsending NDI sensor data acquired by the NDI sensor unit to ground-basedcontroller.

In accordance with further alternative embodiments, the crawler vehicles20 a and 20 b may communicate wirelessly with a ground-based controlstation while receiving electrical power from batteries mounted on thecrawler vehicles 20 a and 20 b. This would avoid the use of amultiplicity of power/signal cords running from the crawler vehicles 20a and 20 b to the ground-based control station. The wirelesscommunications would include: (a) the sending of control signals from atransceiver at the ground-based control station to transceivers on thecrawler vehicles 20 a and 20 b, which control signals are then forwardedto the motor controllers onboard crawler vehicles 20 a and 20 b forcontrolling movements of the crawler vehicles 20 a and 20 b; and (b) thesending of data acquired by the NDI sensor units onboard one or bothcrawler vehicles 20 a and 20 b from the transceivers onboard the crawlervehicles 20 a and 20 b to the transceiver at the ground-based controlstation.

Various embodiments of a crawler vehicle capable of traveling on leveland non-level (e.g., inclined or vertical) surfaces will now bedisclosed. In accordance with some embodiments of the system proposedherein, holonomic-motion crawler vehicles are employed. Variousembodiments of a crawler vehicle capable of moving holonomically onlevel and non-level surfaces will be disclosed for the purpose ofillustration. While some disclosed embodiments carry a non-destructiveinspection sensor for inspecting the surface on which the crawlervehicle travels, the holonomic-motion crawler vehicles disclosed hereincan alternatively carry other types of tools, such as tools needed inmaintenance or painting operations.

FIG. 19 shows parts of a holonomic-motion crawler vehicle 20 having fourMecanum wheels and two suction zones in accordance with one embodiment.The electrical connections for supplying signals for controllingoperation of the depicted components are not shown. Thisholonomic-motion platform comprises a frame 2 with four Mecanum wheels 4a-4 d (two type “A” and two type “B”) mounted to the frame by means ofrespective wheel axles 6, and further comprises four independentlycontrolled drive motors 8 (one per wheel). Each drive motor 8 controlsthe rotation of a respective wheel 4 a-4 d.

A Mecanum-wheeled vehicle is a holonomic system, meaning that it canmove in any direction while simultaneously rotating. This is possiblebecause of the shape of the wheels. The standard configuration for aMecanum-wheeled vehicle has four Mecanum wheels (two type “A” and twotype “B”). The Mecanum wheels are arranged with the “A” pair on onediagonal (e.g., wheels 4 a and 4 d) and the “B” pair on the other (e.g.,wheels 4 b and 4 c), with each having its axle perpendicular to a linerunning through the center of the vehicle. The axes of the rollers onthe type “A” Mecanum wheels are at right angles to the axes of therollers on the type “B” Mecanum wheels. However, the platform may haveany multiple of four Mecanum wheel, e.g., 4, 8, 12, etc.

The holonomic-motion crawler vehicle 20 shown in FIG. 19 utilizes fourMecanum wheels 4 a-4 d. Each Mecanum wheel 4 a-4 d has a multiplicity oftapered rollers 16 rotatably mounted to its circumference, each taperedroller 16 being freely rotatable about its axis. These tapered rollers16 have an axis of rotation which lies at a 45° angle with respect tothe plane of the wheel. Type “A” Mecanum wheels have left-handedrollers, while Type “B” Mecanum wheels have right-handed rollers. Theholonomic-motion crawler vehicle 20 can be made to move in any directionand turn by varying the speed and direction of rotation of each Mecanumwheel 4 a-4 d. For example, rotating all four Mecanum wheels 4 a-4 d inthe same direction at the same rate causes forward or backward movement;rotating the wheels on one side at the same rate but in the oppositedirection of the rotation by the wheels on the other side causes thevehicle to rotate; and rotating the Type “A” wheels at the same rate butin the opposite direction of the rotation of the Type “B” wheels causessideways movement.

The embodiment depicted in FIG. 19 also has two suction devices arrangedside by side in the middle of the frame 2, midway between the front andrear wheels. In this particular embodiment, the suction devices arerespective electric ducted fans 10 a and 10 b which are mounted in arespective opening (not shown in FIG. 19) formed in the frame 2. Asindicated in FIG. 26, each electric ducted fan 10 a and 10 b includes afan 11 which is rotatable about an axis, a duct 9 surrounding the fan11, and an electric fan motor 13 which drives the fan 11 to rotate in adirection such that air is propelled from underneath the frame 2 upthrough the fan duct 9, thereby creating suction in the respectivesuction zones 12 a and 12 b (visible in FIG. 20).

FIG. 20 shows a bottom view of a Mecanum-wheeled crawler vehicle 20having dual suction zones 12 a and 12 b separated by a middle skirt 14 awhich bisects the bottom surface of the frame 2 along a longitudinalaxis. As best seen in FIG. 20, the two suction zones 12 a and 12 b arebounded on opposing sides by longitudinal low-surface-friction flexibleskirts 14 b and 14 c which are attached to the frame 2, the middle skirt14 a forming a common boundary wall separating the two suction zones 12a and 12 b. The skirts 14 a-14 c may extend downward so that theirbottom edges contact the surface on which the vehicle is moving.

In this particular construction, the area of the bottom surface betweenskirts 14 a and 14 b comprises a flat central surface 36 a having anopening of one electric ducted fan 10. This flat central surface 36 a isflanked by forward and rearward convex surfaces 38 a and 40 a.Similarly, the area of the bottom surface between skirts 14 a and 14 ccomprises a flat central surface 36 b having an opening of one electricducted fan 10. This flat central surface 36 b is flanked by forward andrearward convex surfaces 38 b and 40 b. Each of the convex surfaces 38a, 38 b, 40 a and 40 b may be an aerodynamically streamlined surfacewhich forms a respective throat with opposing portions of the surface onwhich the vehicle is moving. Thus, the contoured bottom surface of theframe 2, the skirts 14 a-14 c and the inclined surface 111 on which thecrawler vehicle 20 is moving define respective channels that allowsufficient air to be sucked up through the corresponding electric ductedfan 10 a or 10 b to generate a desired suction force. The portion ofeach channel between the lowest points of the convex surfaces 38 a, 38b, 40 a and 40 b forms respective suction zones 12 a and 12 b. In theparticular embodiment depicted in FIG. 20, the suction zones 12 a and 12b are separated by the middle skirt 14 a and are in fluid communicationwith the respective openings in which the electric ducted fans 10 a and10 b are installed. These openings may be substantially conical along alowermost portion thereof to facilitate the flow of air out the suctionzone.

It should be appreciated that the under-body surface shape seen in FIG.20 is an exemplary implementation. The under-body surface may have manydifferent shapes conducive to the flow of air from the front and rear ofthe crawler vehicle 20 through the space underneath the crawler vehicle20 and then up through the ducts 9 of the electric ducted fans 10 a and10 b.

Although not shown in FIG. 19, the holonomic-motion crawler vehicle 20is tethered to the maintenance cart 18 by a cable 22 (see, e.g., FIG. 2)which also supplies electrical power to the drive motors 8 and electricducted fans 10 a and 10 b on the vehicle. The cable 22 also providescontrol signals to an onboard computer 44 (see FIG. 26) which controlsthe operation of the drive motors 8 and electric ducted fans 10. Theonboard computer 44 communicates with respective motor controllers 85(see FIG. 26) which control the operation of the drive motors 8 andelectric ducted fans 10. In accordance with one embodiment, the drivemotors 8 are stepper motors. For example, each motor controller 85 mayinclude an indexer (e.g., a microprocessor) configured to generate steppulses and direction signal for a driver which is also part of the motorcontroller. The driver converts the indexed command signals into thepower necessary to energize the motor windings. A stepper motor is anelectromagnetic device that converts digital pulses into mechanicalshaft rotation. The onboard computer 44 may further include a computeror processor for commanding and orchestrating the motor controllers 85.The holonomic-motion crawler vehicle 20 may further include a converterbox (not shown) mounted to the frame 2. The converter box converts USBsignals from the onboard computer 44 into pulse-width-modulated (PWM)signals for controlling the fan motors 13 (see FIG. 26).

In accordance with an alternative embodiment, the crawler vehicle 20could be battery-powered, instead of receiving electrical power via apower/signal cord. Also the motor controllers (not shown in FIG. 19, butsee motor controllers 85 in FIG. 26) could be under the control of anonboard computer (not shown in FIG. 19, but see onboard computer 44 inFIG. 26) rather than a ground-based computer. Alternatively, the motorsonboard the crawler vehicle 20 can be controlled via a wirelessconnection to an off-board controller.

Referring again to FIG. 20, the frame 2 of the crawler vehicle 20requires some amount of compliance to keep all of the Mecanum wheels 4a-4 d in contact with a surface without slipping. If only three of thefour Mecanum wheels 4 are in contact with the surface and can generatetraction, the crawler vehicle 20 will not respond properly to motioninputs. One way to address the wheel contact issue is to build a framewith low torsional stiffness. Another way is to provide suspension forone or more of the Mecanum wheels 4 a-4 d.

As depicted in FIG. 20, the underside of the frame 2 is shaped toprovide two suction zones 12 a and 12 b. Also the frame 2 haslow-surface-friction skirts 14 a-14 c that conform to non-flat surfaces.The electric ducted fans 10 a and 10 b are installed in respectiveopenings in the frame 2 and are in fluid communication with respectivesuction zones 12 a and 12 b defined by the frame bottom surface and theskirts 14 a-14 c. When the electric ducted fans 10 a and 10 b are turnedon, each electric ducted fan propels air upward, thereby sucking airfrom the shaped suction zones 12 a and 12 b respectively. The electricducted fans 10 a and 10 b can be independently controlled to applydifferent suction forces to the confronting surface underneath therespective suction zones 12 a and 12 b.

FIG. 21 is a diagram representing a view of a holonomic-motion crawlervehicle 20 c that uses vacuum adhesion technology and holonomic wheelsto adhere and be mobile on non-magnetic surfaces. Crawler vehicle 20 cmay be equipped with a maintenance tool 28 (such an NDI sensor unit)mounted to a gimbal 33 having two rotational degrees of freedom. Thecrawler vehicle 20 c adheres to non-magnetic surfaces through a dualvacuum assist system along with eight vacuum adherence devices 150 (seenin FIG. 22) that each form a vacuum seal. These vacuum adherence devices150 are dragged along the surface when the crawler vehicle 20 c is inmotion. This adhesion mechanism has no issue navigating or adhering toflat surfaces and can maintain attachment to the surface at all angles.

FIG. 21 shows a holonomic motion crawler vehicle 20 c that has fourMecanum wheels 4 a-4 d (only wheels 4 b and 4 d are visible in FIG. 21),four omnidirectional wheels (hereinafter “omni wheels”; only omni wheel45 a is visible in FIG. 21) and respective sets of three LED lights 136a-136 c on each side (only one set is visible in FIG. 21). In accordancewith the embodiment depicted in FIG. 21, the LED lights 136 a-136 c arearranged in an asymmetric pattern on the cover of the crawler vehicle.Each LED light has a generally hemispherical bulb that projects abovethe cover 138 of the crawler vehicle 20 c.

FIG. 22 is a diagram representing a bottom view of the holonomic-motioncrawler vehicle depicted in FIG. 21. The holonomic-motion crawlervehicle 20 c further includes a multiplicity of vacuum adherence devices150. For example, the multiplicity of vacuum adherence devices 150 mayinclude a first set 151 a of four vacuum adherence devices 150 arrangedin a first row and a second set 151 b of four vacuum adherence devices150 arranged in a second row which is parallel to the first row. Otherconfigurations for placement of the vacuum adherence devices 150 arepossible. The vacuum adherence devices 150 are configured to provideenhanced adherence of the crawler vehicle 20 c to the convex curvedcontours of an external surface 111 (see FIG. 23B).

A location tracking system can be provided which is capable of measuringthe location of crawler vehicle 20 c in absolute coordinates followingthe completion of a motion that was tracked incrementally, e.g., usingrotation encoders 48 (see FIG. 26) operatively coupled to a set of fouromni wheels 45 a-45 d. One example of an incremental motion measurementsystem is a dead-reckoning odometry-based system. Any dead-reckoningsolution will have measurement inaccuracies due to small errors thatbuild up over time. These can be caused by systematic errors in thedevice or disruptions caused by unexpected changes in the environment.

This device depicted in FIG. 22 has a four-omni wheel, perpendicular,double-differential configuration. Respective rotation encoders 48 (notshown in FIG. 22, but see rotation encoders 48 in FIG. 26) measurerotation of the omni wheels 45 a-45 d. As the omni wheels 45 a-45 d rollon a surface, the rotation encoders 48 produce encoder pulsesrepresenting respective encoder counts which are sent by the onboardcomputer 44 to an operations control center via a power/signal cable(not shown in FIGS. 21 and 22) after each incremental rotation of eachomni wheel. Each rotation encoder 48 will output an encoder countproportional to the angle of rotation of a respective omni wheel. Theseencoder pulses will be received by a ground-based computer system thatcomputes the X and Y coordinates of the device.

The ground-based control system stops the crawler vehicle 20 when thecounts of encoder pulses indicate that the crawler vehicle 20 hasarrived at the desired location. The current location of the stoppedcrawler vehicle can then be checked to determine to what extent it maydeviate from the desired location. Corrections can be made to therelative motion measurements by acquiring accurate, absolutemeasurements at lower update rates. This absolute measurement process(performed while the crawler vehicle 20 is stopped) can be integratedinto a relative motion measurement system running at higher updaterates, which acquires relative motion measurements while the crawlervehicle 20 is moving. In accordance with one embodiment, alower-update-rate local positioning system-based process providescorrections to a higher-update-rate odometry system.

A process for absolute measurement of the position of the crawlervehicle 20 c is implemented by acquiring an image with the LED lights136 a-136 c off and then turning the lights on and acquiring anotherimage (or vice versa). Two variations of the process have beendeveloped: one in which all the lights are turned on at the same time,and another in which the lights are turned on in a specific sequence.The first way is slightly faster. It employs a light pattern on thesurface of the target object that is asymmetric. The second method ismore robust in differentiating between the lights and does not requirethe light pattern to be asymmetric. The absolute measurement system (notshown in the drawings) includes a laser range meter mounted to apan-tilt unit that produces position and orientation data at finite timeintervals.

FIG. 23A is a diagram showing a cross-sectional view of a vacuumadherence device 150 in accordance with one implementation. This vacuumadherence device 150 comprises a circular cylindrical sleeve housing 152and a sleeve 154 having a circular cylindrical portion which is axiallyslidable along a center axis 166 inside the sleeve housing 152. Thesleeve 154 further comprises bearing portion 156 having an outerspherical bearing surface having a center point located along the centeraxis 166. The bearing portion 156 may be integrally formed with theaforementioned circular cylindrical portion of sleeve 154. The vacuumadherence device 150 further comprises a pivotable seal assembly 158comprising a socket ring 160 that holds a seal 162. The socket ring 160also has an inner spherical bearing surface which is concentric with andpivotably coupled to the outer spherical bearing surface of bearingportion 156 of sleeve 154. The pivot point of the socket ring 160 iscollocated with the center point of the outer spherical bearing surfaceof bearing portion 156 of sleeve 154.

The pivotable seal assembly 158 is configured to rotate relative to thesleeve 154 about the pivot point to at least partially conform to ashape of a confronting surface. The vacuum adherence device 150 canadhere to such a confronting surface when air is drawn into a channel164 formed in part by the channel of sleeve housing 152, in part by thechannel of sleeve 154, and in part by the opening in the seal 162. Thepivotable seal assembly 158 is configured to rotate relative to thesleeve 154 independently of translational movement of the sleeve 154 ina direction parallel to the center axis 166 within the sleeve housing152. The amount of rotation of pivotable seal assembly 158 may belimited by the size and/or shape of the outer spherical bearing surfaceof the bearing portion 156 of sleeve 154.

Although not shown in FIG. 23A, the vacuum adherence device 150preferably comprises a spring arranged to urge the sleeve 154 to extendout of the sleeve housing 152 by downward (as seen in the view of FIG.23A) sliding along the center axis 166. This sliding movement may berestricted to within a selected range of movement. However, sleeve 154may “float” freely relative to sleeve housing 152 within this selectedrange of movement. This restriction of the translational motion ofsleeve 154 can be implemented by providing a slot 168 in the wall of thecircular cylindrical portion of sleeve 154 and by providing a pin 170which extends radially inward from the wall of sleeve housing 152 andinto the slot 168. The pin 170 may also be used to hold sleeve 154inside sleeve housing 152. The length of slot 168 restricts the slidingmovement of sleeve 154 relative to sleeve housing 152.

The channel 164 is in fluid communication with a control valve (notshown in FIG. 23A), which control valve is in turn in flow communicationwith a vacuum pump (also not shown in FIG. 23A). The vacuum pump,control valve, channel 164, and connecting conduits form a vacuum systemwhich is configured to draw air into the channel 164 such that a vacuumadherence is formed between the pivotable seal assembly 158 and aconfronting surface. The vacuum adherence is the result of a vacuumpressure generated inside the channel 164. When the flow of air isreversed, air provided by the pump flows through any gap between theseal 162 and the confronting external surface 111. The height of the gapmay vary along the periphery of the seal 162. This gap height depends onthe shape of the confronting surface and the degree of rotation of theseal 162 to conform to that shape. The seal 162 may be formed of any oneof a number of different materials. For example, seal 162 may comprisesilicone rubber or other elastomeric material, a viscoelastomericmaterial, or some other suitable flexible material.

FIG. 23B shows a cross-sectional view of the vacuum adherence device 150depicted in FIG. 23A adhered to a convex curved external surface 111.The air gap between the vacuum adherence device 150 and the externalsurface 111 has been exaggerated for the purpose of illustration. Theair gap may function as an air bearing that holds the pivotable sealassembly 158 close to the external surface 111, while reducing staticfriction to within selected tolerances. In other words, the air gapallows pivotable seal assembly 158 to “float” above the external surface111 while maintaining vacuum adherence between pivotable seal assembly158 and external surface 111. Further, the air gap allows pivotable sealassembly 158 to be moved over the external surface 111 with a reducedamount of static friction and without causing undesired effects to thesurface.

The crawler vehicles 20 disclosed herein have multiple applications. Inaccordance with one application, the crawler vehicle 20 carries an NDIsensor unit (such as an ultrasonic transducer or an eddy-currentsensor), but other types of maintenance tools may be carried. The sensormay be a single sensing element or an array of sensing elements.Cameras, tools, painting equipment, a laser marking system, a roboticarm manipulator, or other devices could also be carried by the platform.

FIG. 24 shows a version of the crawler vehicle 20 with a fixedultrasonic transducer array 88 mounted to one end of the frame 2. Theultrasonic transducer array 88 can scan an underlying surface in thedirection in which the vehicle crawls. The ultrasonic sensor may be asingle ultrasonic sensing element or an array of ultrasonic sensingelements.

FIG. 25 shows another version of the crawler vehicle 20 with a scanningultrasonic sensor unit 30 (e.g., a linear or curved ultrasonictransducer array) mounted on a linear track 32 fixed to one end of theframe. The ultrasonic sensor unit 30 can slide back and forth along thelinear track 32, scanning a transverse area of underlying surface whilethe crawler vehicle 20 is stationary. Again, the ultrasonic sensor maybe a single sensing element or an array of sensing elements. The vehiclecan be moved forward in increments, pausing after each incremental moveto allow the ultrasonic sensor unit 30 to scan along a transverse line.Alternatively, a controller can be programmed to control the movementsof the crawler vehicle 20 and the scanning head to provide otherpatterns for scanning a surface area.

FIG. 26 is a block diagram identifying some components of aholonomic-motion crawler vehicle that is equipped with both a cablespool 52 and a carriage-mounted maintenance tool (only the carriage 34is shown in FIG. 26) in accordance with one embodiment. This spool- andtool-equipped holonomic-motion crawler vehicle includes a frame 2 havinga set of four wheel axles 6 fixedly coupled thereto. A set of fourMecanum wheels 4 are rotatably coupled to respective wheel axles 6. Aset of four drive motors 8 are configured to respectively drive rotationof the Mecanum wheels 4 in response to control signals received fromrespective motor controllers 85. The motor controllers 85 in turnreceive commands from an onboard computer 44. The onboard computer 44 isprogrammed to receive operational instructions from a ground-basedcontrol computer via a transceiver 80 and then issue commands in theformats recognized by the motor controllers 85. In addition, a pair ofelectric ducted fans 10 a and 10 b are incorporated in the frame 2. (Inalternative embodiments, the number of electric ducted fans may bedifferent than two.) Each electric ducted fan 10 a and 10 b includes afan 11 which is rotatable about an axis, a duct 9 surrounding the fan,and an electric fan motor 13 which drives the fan 11 to rotate inresponse to control signals received from the onboard computer 44.

The holonomic-motion crawler vehicle partly represented in FIG. 26further includes a spool axle 50 fixedly coupled to the frame 2, a cablespool 52 rotatably coupled to the spool axle 50, and a spool motor 54configured to drive rotation of the cable spool 52 in response tocontrol signals received from the onboard computer 44. In addition, theholonomic-motion crawler vehicle partly represented in FIG. 26 includesa linear track 32 mounted to the frame 2. More specifically, the lineartrack 32 may be translatably coupled to a motorized linear slide 31 ofthe type depicted in FIG. 17B. A carriage 34, to which the maintenancetool 28 (not shown in FIG. 26) is fixedly coupled, is translatablycoupled to the linear track 32 and driven to translate laterally alongthe linear track 32 by a carriage motor 42 (by way of a gear train notshown) in response to control signals received from the onboard computer44.

In addition, the onboard computer 44 may be programmed to track thelocation of the crawler vehicle using differential odometry. (In thiscontext, the term “location” includes position in a three-dimensionalcoordinate system and orientation relative to that coordinate system.)For this purpose, the crawler vehicle components depicted in FIG. 26include a set of omni-directional wheels 45 with respective rotationencoders 48. The encoded data output by the rotation encoders 48 isreceived by the onboard computer 44. In accordance with the teachingsherein, a frame 2 of a crawler vehicle may have a set of fouromni-directional wheels 45 for tracking vehicle motion and a set of fourMecanum wheels 4 for driving the vehicle under the control of theonboard computer 44. More details regarding such a subsystem fordifferential odometry can be found in U.S. Pat. No. 9,470,658.

All of the motors identified in FIG. 26 are mounted to the frame 2. Theonboard computer 44 is configured to control operation of the motors sothat each holonomic-motion crawler vehicle 20 (see FIG. 2) performs amaintenance operation in a respective area of the surface of the windturbine blade 108. The onboard computer 44 receives data from sensor(s)82. The sensor(s) 82 may, e.g., include an inclinometer that providesdata representing the angle of inclination of the holonomic-motioncrawler vehicle 20 or respective sensors that provide data representingthe loads on each wheel. The onboard computer 44 processes thatinformation to: (1) control the drive motors 8 as a function of theposition/orientation data and (2) control the electric ducted fans 10 aand 10 b as a function of the sensor data as disclosed in U.S. Pat. No.8,738,226.

FIG. 27 is a block diagram identifying some components of a system forperforming an ultrasonic inspection on a surface of an airfoil-shapedbody in accordance with one proposed computer architecture. In thisexample, the NDI sensor unit is an ultrasonic transducer array 88. Aspreviously disclosed above, the system may include a control subsystemthat uses rotation encoders to track the relative location (e.g.,relative to an initial location acquired using a local positioningsystem) of the ultrasonic transducer array 88. More specifically, thecontrol system includes a ground-based control computer 90 programmedwith motion control application software 92 and NDI scan applicationsoftware 94. The control computer 90 may be a general-purpose computerprogrammed with motion control application software 92 includingrespective software modules for sending instructions to the computers 44onboard the crawler vehicles 20. Those onboard computers 44 in turnoutput commands to the motor controllers 85 onboard the crawler vehicles20, including at least four motor controllers on each crawler vehiclethat control operation of the motors for coordinating movements of thecrawler vehicles 20 along a scan path during an ultrasonic inspection.The motion control application software 92 sends commands based onfeedback from a position measurement system 84 that tracks the locationsof the crawler vehicles 20. The feedback from the position measurementsystem 84 is also provided to an ultrasonic pulser/receiver 96, whichmay be connected to the ultrasonic transducer array 88 on crawlervehicle 20 via an electrical cord or cable or wirelessly.

Still referring to FIG. 27, the ultrasonic pulser/receiver 96 sends theencoder pulses to the NDI scan application software 94. The NDI scanapplication software 94 uses the encoder values to position the scandata in the proper location. The control computer 90 hosts ultrasonicdata acquisition and display software that controls the ultrasonicpulser/receiver 96. The ultrasonic pulser/receiver 96 in turn sendspulses to and receives return signals from the ultrasonic transducerarray 88. The NDI scan application software 94 controls all details ofthe scan data and the display of data, including the stitching of dataacquired during adjacent sweeps of an ultrasonic transducer array 88.

The position measurement system 84 is configured to acquire positiondata representing the initial coordinate position of each of the crawlervehicles 20 relative to a coordinate system (i.e., frame of reference)of the wind turbine blade 108. Once the initial coordinate position ofeach of the crawler vehicles 20 has been determined, the data acquiredby the rotation encoders 48 (see FIG. 26) can be used to track eachincremental movement away or toward the initial coordinate positions.This enables the control computer 90 to track the positions of theultrasonic transducer array 88 carried by each crawler vehicle 20 duringultrasonic inspection.

The position measurement system 84 may be further configured to acquirecart position data representing the initial coordinate position of themaintenance cart 18 relative to a coordinate system (i.e., frame ofreference) of the wind turbine blade 108. Once the initial coordinateposition of the maintenance cart 18 has been determined, the dataacquired by a cart wheel rotation encoder (not shown in FIG. 27) can beused to track each incremental movement away or toward the initialcoordinate position. This enables the control computer 90 to track thespanwise position of the maintenance cart 18 during the performance of amaintenance operation by a maintenance tool being carried by themaintenance cart 18 as opposed to the crawler vehicle 20.

The position measurement system 84 may take many different forms. Forexample, the position measurement system 84 may include a string encodermounted on the maintenance cart 18. The string encoder includes a stringhaving one end which may be attached to a string encoder attachmentdevice fixedly coupled to the root of the wind turbine blade 108. Thestring encoder can be used to measure the distance of the maintenancecart 18 from the hub 106, which in turn enables determination of thespanwise position of the maintenance cart 18 on the wind turbine blade108.

By virtue of the geometry of the maintenance cart 18 and relative wheellocations, the position of one horizontal point on the maintenance cart18 (for example, a target viewed by a laser distance meter at the rootend of the wind turbine blade 108) is all that is needed for Xpositioning. For Y positioning, a linear encoder (optical or physical)between a cart location and the trailing edge 112 will provide Yposition, which would vary only slightly due to how the maintenance cart18 sits on the trailing edge 112. If there is a “hard stop” seating ofthe maintenance cart 18 on the trailing edge 112, this will always bethe same, and no Y encoding is needed. All wheel locations will be knownrelative to the horizontal and vertical datum, and inspection data fromeach wheel probe can be mapped onto a two-dimensional space accordingly.

In accordance with an alternative embodiment, the position measurementsystem 84 may include a laser range meter mounted on the hub 106 of thewind turbine 100 and an optical target (e.g., a retroreflector) mountedon the maintenance cart 18 (or vice versa). The control computer 90 maybe programmed to control operation of the laser range meter and receiverange data therefrom for wireless transmission to a control station.Measurement data from the laser range meter can be used to obtainestimates of the distance from the laser range meter to the opticaltarget, which distance can be used to compute the spanwise position ofthe maintenance cart 18 in the frame of reference of the wind turbineblade 108. A typical laser range meter comprises a laser diode whichtransmits a bundled, usually visible, laser beam toward the opticaltarget. The light which is backscattered and/or reflected by the opticaltarget is imaged on the active surface of a photoreceiver by receivingoptics. The photoreceiver has a position and an orientation which arefixed relative to the position and orientation of the laser diode. Thetime-of-flight between transmission and reception of the light can beused to calculate the distance between the laser range meter and theoptical target. Alternatively, a distance meter which directionallyprojects wave energy other than a laser beam could be utilized.

In accordance with a further embodiment, the position measurement system84 may include closed-loop feedback control using a motion capturesystem of the type disclosed in detail in U.S. Pat. No. 7,643,893. Inaccordance with one embodiment, the motion capture system is configuredto measure the spanwise position of the maintenance cart 18 as themaintenance cart 18 operates within a control volume. A processorreceives the measured motion characteristics from the motion capturesystem and determines a control signal based on the measured motioncharacteristics. A position control system receives the control signaland continuously adjusts the cart motion to maintain or achieve adesired motion state. The maintenance cart 18 may be equipped withoptical targets in the form of passive retro-reflective markers. Themotion capture system, the processor, and the position control systemcomprise a complete closed-loop feedback control system.

In addition, the structure and operation of a system that uses opticalmotion capture hardware for position and orientation tracking of endeffectors (e.g., NDI sensors) are disclosed in detail in U.S. Pat. No.8,892,252. In accordance with a basic system configuration for a motioncapture-based tracking method, multiple motion capture cameras (at leasttwo) are set up around a wind turbine blade 108 to create athree-dimensional capture volume that captures motion for all sixdegrees-of-freedom (6-DoF) of the maintenance cart 18. Preferably themaintenance cart 18 has a group of passive retro-reflective markers (atleast three) attached thereto and arranged in a unique pattern. Eachmotion capture camera can be a video camera of the type comprising aring of light-emitting diodes (LEDs) surrounding a camera lens. Inconjunction with such cameras, each retro-reflective marker may comprisea hemispherical or ball-shaped body coated with retro-reflective paintthat reflects impinging light from the LEDs of each camera back towardthe associated lens of the respective camera. The motion capture systemutilizes data captured from image sensors inside the cameras totriangulate the three-dimensional position of the target object betweenmultiple cameras configured to provide overlapping projections. Themotion capture processor collects real-time image information from allof the motion capture cameras, processes the image data, and sends theinformation along a dedicated connection to a motion tracking andapplications computer. At each frame update, the positions of all of thepassive markers in the capture volume can be captured by each camera andconverted by the motion capture processor into three-dimensionalcoordinates, resulting in a full 6-DoF position and orientationrepresentation for the maintenance cart 18.

In the specific application described in this disclosure, the motioncapture cameras can be placed at any one of the following locations: (a)on a self-supporting structure; (b) on the nacelle 104 of the windturbine 100; (c) on wind turbine blades other than the wind turbineblade undergoing the maintenance procedure; (d) on the tower 102; and(e) on the maintenance cart 18 pointed back at passive markers attachednear the hub 106 of the wind turbine 100.

The apparatus disclosed herein can be adapted for use in the automationof various maintenance functions, including but not limited tonon-destructive inspection, drilling, grinding, fastening, appliqueapplication, scarfing, ply mapping, marking, cleaning and painting. Incases where the end effector is a rotary tool (such as a scarfer, drill,deburrer or reamer), when the rotary tool reaches a target position, thecomputer system can be programmed to activate the end effector motor(not shown in drawings) via a motor controller to drive rotation of therotary tool.

While apparatuses and methods for performing automated maintenanceoperations on an airfoil-shaped body using a trailing edge-followingmaintenance cart have been described with reference to particularembodiments, it will be understood by those skilled in the art thatvarious changes may be made and equivalents may be substituted forelements thereof without departing from the scope of the teachingsherein. In addition, many modifications may be made to adapt aparticular situation to the teachings herein without departing from theessential scope thereof. Therefore it is intended that the claims setforth hereinafter not be limited to the disclosed embodiments.

As used herein, the term “computer system” should be construed broadlyto encompass a system having at least one computer or processor, andwhich may have multiple computers or processors that communicate througha network or bus. As used in the preceding sentence, the terms“computer” and “processor” both refer to devices comprising a processingunit (e.g., a central processing unit) and some form of memory (i.e.,computer-readable medium) for storing a program which is readable by theprocessing unit. For example, one form of a computer system disclosedabove is the combination of a processor or control computer (a.k.a.controller) and one or more motor controllers, wherein the processor orcontrol computer communicates with the one or more motor controllers. Inthe above-disclosed embodiments, the computer system isconfigured/programmed to send commands to the motor controllers forcontrolling the movements of the cart and the crawlers.

The methods described herein may be encoded as executable instructionsembodied in a non-transitory tangible computer-readable storage medium,including, without limitation, a storage device and/or a memory device.Such instructions, when executed by a processor or computer, cause theprocessor or computer to perform at least a portion of the methodsdescribed herein.

The method claims set forth hereinafter should not be construed torequire that the steps recited therein be performed in alphabeticalorder (any alphabetical ordering in the claims is used solely for thepurpose of referencing previously recited steps) or in the order inwhich they are recited unless the claim language explicitly specifies orstates conditions indicating a particular order in which some or all ofthose steps are performed. Nor should the method claims be construed toexclude any portions of two or more steps being performed concurrentlyor alternatingly unless the claim language explicitly states a conditionthat precludes such an interpretation.

The invention claimed is:
 1. An apparatus comprising: a backbonestructure; a suspension system comprising first through fourthsuspension arms which are non-articulated and fixedly coupled to andextending downward from the backbone structure; first through fourthstabilizing wheels respectively supported by and rotatable relative tothe first through fourth suspension arms; and a motor operativelycoupled to drive rotation of the first stabilizing wheel, wherein thefirst through fourth stabilizing wheels are arranged relative to thebackbone structure in a configuration such that the first and thirdstabilizing wheels would contact and be rollable on one side of anairfoil-shaped body and the second and fourth stabilizing wheels wouldcontact and be rollable on another side of the airfoil-shaped body whilethe suspension system suspends the backbone structure over a generallyhorizontal trailing edge of the airfoil-shaped body.
 2. The apparatus asrecited in claim 1, comprising first through fourth multiplicities ofwheels, wherein the first through fourth stabilizing wheels arerespectively included in the first through fourth multiplicities ofwheels, and the suspension system comprises first through fourthmultiplicities of rocker arms respectively rotatably coupled to thefirst through fourth suspension arms, the first through fourthmultiplicities of wheels being respectively rotatably coupled to thefirst through fourth multiplicities of rocker arms.
 3. The apparatus asrecited in claim 1, further comprising: first and second NDI sensor unitsupports rotatably coupled to the backbone structure; and first andsecond NDI sensor units respectively fixedly coupled to the first andsecond NDI sensor unit supports.
 4. The apparatus as recited in claim 1,wherein the first stabilizing wheel is a wheel probe.
 5. The apparatusas recited in claim 1, further comprising: a cable spool rotatablycoupled to the backbone structure; a spool motor mounted to the backbonestructure and operatively coupled to drive rotation of the cable spool;a cable having a portion wound on the cable spool; and a crawler vehicleattached to one end of the cable, the crawler vehicle comprising aframe, a set of wheels rotatably coupled to the frame, at least onevacuum adherence device coupled to the frame, and a maintenance toolcarried by the frame.
 6. The apparatus as recited in claim 1, furthercomprising: a cable having one end attached to the backbone structure;and a crawler vehicle attached to the cable, the crawler vehiclecomprising: a frame; a set of wheels rotatably coupled to the frame; atleast one vacuum adherence device coupled to the frame; a maintenancetool carried by the frame; a cable spool rotatably coupled to the frame;and a spool motor mounted to the frame and operatively coupled to driverotation of the cable spool.
 7. The apparatus as recited in claim 1,wherein the backbone structure comprises a truss bridge.
 8. Theapparatus as recited in claim 1, wherein the suspension system furthercomprises: first and second rocker arms respectively rotatably coupledto the first and second suspension arms, the first and secondstabilizing wheels being respectively rotatably coupled to the first andsecond rocker arms; and first and second rocker helical torsion springswhich are arranged to respectively assist rotations of the first andsecond rocker arms that would cause the first and second stabilizingwheels to respectively move toward each other.
 9. The apparatus asrecited in claim 8, wherein the suspension system further comprises: astandoff support frame rotatably coupled to the first rocker arm; asensor affixed to the standoff support frame; a standoff wheel rotatablycoupled to the standoff support frame, wherein the sensor is separatedfrom a plane that is tangent to both the first stabilizing wheel and thestandoff wheel by a standoff distance.
 10. The apparatus as recited inclaim 8, further comprising first and second vertical wheels, whereinthe suspension system further comprises: third and fourth rocker armsrotatably coupled to the backbone structure, the first and secondvertical wheels being rotatably coupled to the third and fourth rockerarms respectively; and third and fourth rocker helical torsion springswhich are arranged to respectively assist rotations of the third andfourth rocker arms that would cause the first and second vertical wheelsto move away from the backbone structure.
 11. The apparatus as recitedin claim 10, wherein each of the first and second vertical wheels is arespective wheel having an annular groove configured to receive aportion of the trailing edge of the airfoil-shaped body.
 12. Anapparatus comprising: a backbone structure; first and second verticalwheels; a suspension system comprising first through fourth suspensionarms fixedly coupled to and extending downward from the backbonestructure; first through fourth stabilizing wheels respectivelysupported by and rotatable relative to the first through fourthsuspension arms; and a motor operatively coupled to drive rotation ofthe first stabilizing wheel, wherein the first through fourthstabilizing wheels are arranged relative to the backbone structure in aconfiguration such that the first and third stabilizing wheels wouldcontact and be rollable on one side of an airfoil-shaped body and thesecond and fourth stabilizing wheels would contact and be rollable onanother side of the airfoil-shaped body while the suspension systemsuspends the backbone structure over a generally horizontal trailingedge of the airfoil-shaped body; and wherein the suspension systemfurther comprises: first and second rocker arms respectively rotatablycoupled to the first and second suspension arms, the first and secondstabilizing wheels being respectively rotatably coupled to the first andsecond rocker arms; first and second rocker helical torsion springswhich are arranged to respectively assist rotations of the first andsecond rocker arms that would cause the first and second stabilizingwheels to respectively move toward each other; third and fourth rockerarms rotatably coupled to the backbone structure, the first and secondvertical wheels being rotatably coupled to the third and fourth rockerarms respectively; and third and fourth rocker helical torsion springswhich are arranged to respectively assist rotations of the third andfourth rocker arms that would cause the first and second vertical wheelsto move away from the backbone structure.
 13. The apparatus as recitedin claim 12, wherein each of the first and second vertical wheels is arespective wheel having an annular groove configured to receive aportion of the trailing edge of the airfoil-shaped body.
 14. Theapparatus as recited in claim 12, comprising first through fourthmultiplicities of wheels, wherein the first through fourth stabilizingwheels are respectively included in the first through fourthmultiplicities of wheels, and the suspension system comprises firstthrough fourth multiplicities of rocker arms respectively rotatablycoupled to the first through fourth suspension arms, the first throughfourth multiplicities of wheels being respectively rotatably coupled tothe first through fourth multiplicities of rocker arms.
 15. Theapparatus as recited in claim 12, wherein the suspension system furthercomprises: a standoff support frame rotatably coupled to the firstrocker arm; a sensor affixed to the standoff support frame; a standoffwheel rotatably coupled to the standoff support frame, wherein thesensor is separated from a plane that is tangent to both the firststabilizing wheel and the standoff wheel by a standoff distance.
 16. Theapparatus as recited in claim 12, further comprising: first and secondNDI sensor unit supports rotatably coupled to the backbone structure;and first and second NDI sensor units respectively fixedly coupled tothe first and second NDI sensor unit supports.
 17. The apparatus asrecited in claim 12, wherein the first stabilizing wheel is a wheelprobe.
 18. The apparatus as recited in claim 12, further comprising: acable spool rotatably coupled to the backbone structure; a spool motormounted to the backbone structure and operatively coupled to driverotation of the cable spool; a cable having a portion wound on the cablespool; and a crawler vehicle attached to one end of the cable, thecrawler vehicle comprising a frame, a set of wheels rotatably coupled tothe frame, at least one vacuum adherence device coupled to the frame,and a maintenance tool carried by the frame.
 19. The apparatus asrecited in claim 12, further comprising: a cable having one end attachedto the backbone structure; and a crawler vehicle attached to the cable,the crawler vehicle comprising: a frame; a set of wheels rotatablycoupled to the frame; at least one vacuum adherence device coupled tothe frame; a maintenance tool carried by the frame; a cable spoolrotatably coupled to the frame; and a spool motor mounted to the frameand operatively coupled to drive rotation of the cable spool.
 20. Anapparatus comprising: a backbone structure; first and second verticalwheels; a suspension system comprising first through fourth suspensionarms fixedly coupled to and extending downward from the backbonestructure; first through fourth stabilizing wheels respectivelysupported by and rotatable relative to the first through fourthsuspension arms; and a motor operatively coupled to drive rotation ofthe first stabilizing wheel, wherein the first through fourthstabilizing wheels are arranged relative to the backbone structure in aconfiguration such that the first and third stabilizing wheels wouldcontact and be rollable on one side of an airfoil-shaped body and thesecond and fourth stabilizing wheels would contact and be rollable onanother side of the airfoil-shaped body while the suspension systemsuspends the backbone structure over a generally horizontal trailingedge of the airfoil-shaped body; and wherein the suspension systemfurther comprises: first and second rocker arms rotatably coupled to thebackbone structure, the first and second vertical wheels being rotatablycoupled to the first and second rocker arms respectively; and first andsecond rocker helical torsion springs which are arranged to respectivelyassist rotations of the first and second rocker arms that would causethe first and second vertical wheels to move away from the backbonestructure.
 21. The apparatus as recited in claim 20, wherein each of thefirst and second vertical wheels is a respective wheel having an annulargroove configured to receive a portion of the trailing edge of theairfoil-shaped body.
 22. The apparatus as recited in claim 20, whereinthe backbone structure comprises a truss bridge.